Towards autonomous excavation by hydraulic excavator &amp;#x2014; Measurement and consideration on bucket posture and body stress in digging works

Fujino, Kenichi; Moteki, Masaharu; Nishiyama, Akihiko; Yuta, Shin’ichi

doi:10.1109/arso.2013.6705534

Cited by 5 publications

(5 citation statements)

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“…erefore, it is difficult to establish a comprehensive and accurate theoretical model of the excavator digging process that can realistically reflect the soil-bucket interaction mechanism. To obtain the information of variability in operation, uncertainity in soil properties, and fluctuations in environment, and further to achieve human-machine-environment fusion, some external detection apparatus (transducers, radar detectors, and cameras) have been widely used in autonomous excavation [19][20][21]. However, during the design phase, all these uncertain information cannot be obtained; thus, a model that can be used to realistically simulate the digging process is essential for determination of design loads of bucket design.…”

Section: Soil-bucket Interaction Modelling Andmentioning

confidence: 99%

Lightweight and High-Strength Design of an Excavator Bucket under Uncertain Loading

Pang

Zou

et al. 2019

Mathematical Problems in Engineering

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This paper presents a methodology for lightweight and high-strength design of an excavator bucket under uncertain loading. Uncertain loads are obtained by using the Monte Carlo simulation based on the existing soil-bucket interaction model in which the soil parameters are variable. And the well-known 3-sigma methodology is used for the quantification of the uncertain loads. Excavator bucket modelling is finished by using ANSYS Parameter Design Language (APDL). A multiobjective optimization model aiming to decrease the maximum von Mises stress and to reduce the weight of the bucket is established on the foundations of the uncertain load and the parametric geometry model. The structural shape and topology of the bucket are then designed by using the mixed variable genetic algorithm to solve the established optimization problem. The results show that the presented method can be effectively and efficiently applied for the optimization design of the excavator bucket and that the optimized bucket signifies obvious decreases in the weight and the stress compared with the initial reference model. The proposed methodology for structure optimization design considering uncertain loads not only provides the technical means for the design and development of high-performance bucket but also lays a preliminary theoretical foundation for the optimization design integrated machine-environment interaction.

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Section: Soil-bucket Interaction Modelling Andmentioning

confidence: 99%

Lightweight and High-Strength Design of an Excavator Bucket under Uncertain Loading

Pang

Zou

et al. 2019

Mathematical Problems in Engineering

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“…Zou et al 14,15 established the dynamic relationship between the digging force of the bucket and the thrust of the hydraulic cylinder, and proposed a dynamic trajectory planning method based on the integration of soil-shovel interaction. Fujino et al 16 investigated the relationship between the digging load and the bucket strain. Hu et al 17 used the thickness of the arm steel plate as the design variable to optimize the weight of the arm.…”

Section: Introductionmentioning

confidence: 99%

Bucket structure optimization of backhoe hydraulic excavator based on compound digging trajectory and limit digging force

Sun

Ren

et al. 2022

Advances in Mechanical Engineering

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A bucket structure optimization method based on compound digging trajectory and limit digging force was proposed for the problem that the real digging resistance of excavators is difficult to measure and difficult to use as bucket load for structure optimization. The uncertainty of the digging resistance in the actual digging process of the excavator was analyzed, and a digging trajectory was obtained by active digging using the compound digging action. Based on the limit digging force model, the digging force and its variation law were calculated, and analyzed for different hydraulic cylinder’s active digging in the trajectory. Based on the bucket shape line equation, a parametric model of the bucket was established using APDL language, and the bucket stress variation under different digging actions was analyzed. The bucket stress and mass were reduced by 4.59% and 5.84% respectively after optimization.

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“…Because of the high machining accuracy and high precision encoder for position feedback, motor-driven robots have a high precision and a reliable stability level. The rotary encoder and potentiometer are used to measure the posture of the excavator robot end-effector, which can lead to automatic excavation [10][11][12][13][14]. However, the repeated positioning accuracy of hydraulic robots is worse than that of motor-driven robots due to the range of workspaces and mechanical structures.…”

Section: Introductionmentioning

confidence: 99%

Research on Visualization and Error Compensation of Demolition Robot Attachment Changing

Deng

Zou

Chen

et al. 2020

Sensors

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Attachment changing in demolition robots has a high docking accuracy requirement, so it is hard for operators to control this process remotely through the perspective of a camera. To solve this problem, this study investigated positioning error and proposed a method of error compensation to achieve a highly precise attachment changing process. This study established a link parameter model for the demolition robot, measured the error in the attachment changing, introduced a reference coordinate system to solve the coordinate transformation from the dock spot of the robot’s quick-hitch equipment to the dock spot of the attachment, and realized error compensation. Through calculation and experimentation, it was shown that the error compensation method proposed in this study reduced the level of error in attachment changing from the centimeter to millimeter scale, thereby meeting the accuracy requirements for attachment changing. This method can be applied to the remote-controlled attachment changing process of demolition robots, which provides the basis for the subsequent automatic changing of attachments. This has the potential to be applied in nuclear facility decommissioning and dismantling, as well as other radioactive environments.

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Towards autonomous excavation by hydraulic excavator — Measurement and consideration on bucket posture and body stress in digging works

Cited by 5 publications

References 0 publications

Lightweight and High-Strength Design of an Excavator Bucket under Uncertain Loading

Lightweight and High-Strength Design of an Excavator Bucket under Uncertain Loading

Bucket structure optimization of backhoe hydraulic excavator based on compound digging trajectory and limit digging force

Research on Visualization and Error Compensation of Demolition Robot Attachment Changing

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