Dynamically optimal trajectories for earthmoving excavators

Kim, Young–Bum; Ha, Junhyoung; Kang, Hee Jin; Kim, Pan Young; Park, Jinsoo; Park, F.C.

doi:10.1016/j.autcon.2013.01.007

Cited by 56 publications

(38 citation statements)

References 8 publications

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“…In a conventional study of manipulator dynamics, mathematical models are derived by applying Newton-Euler's or Euler-Lagrange's method. These two different approaches are equivalent and lead to the same set of dynamic equations [11,13,37,[40][41][42][43]. In Euler-Lagrange's approach, dynamic equations can be derived from a Lagrange energy function by treating a manipulator system as a whole [10,26].…”

Section: Dynamic Modelsmentioning

confidence: 99%

A Review on Mechanical and Hydraulic System Modeling of Excavator Manipulator System

Yoon

2016

Journal of Construction Engineering

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A recent trend in the development of off-highway construction equipment, such as excavators, is to use a system model for model-based system design in a virtual environment. Also, control system design for advanced excavation systems, such as automatic excavators and hybrid excavators, requires system models in order to design and simulate the control systems. Therefore, modeling of an excavator is an important first step toward the development of advanced excavators. This paper reviews results of recent studies on the modeling of mechanical and hydraulic subsystems for the simulation, design, and control development of excavator systems. Kinematic and dynamic modeling efforts are reviewed first. Then, various approaches in the hydraulic system modeling are presented.

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Section: Dynamic Modelsmentioning

confidence: 99%

A Review on Mechanical and Hydraulic System Modeling of Excavator Manipulator System

Yoon

2016

Journal of Construction Engineering

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“…Frimpong and Li (2005) and Li and Frimpong (2008) presented dynamics and finite element models for a shovel excavator based on ADAMS and NASTRAN software packages, respectively. Seungjin et al (2010) and Kim et al (2013) developed an analytic gradient-based optimization algorithm to perform optimal design of hydraulic excavators. Shen et al (2013) established a comprehensive set of genetic algorithms to optimize the mathematical model of a loader device.…”

Section: Introductionmentioning

confidence: 99%

Identification, design and kinematic analysis of an earthmoving mechanism

Pan

Callejo

2016

Journal of Terramechanics

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Earthmoving mechanisms in motor graders are critical components for earthwork, compaction and re-handling, and yet they have not received much attention by mechanical engineering research in recent times. In this paper, a comprehensive analysis, from mechanism identification and innovative design to kinematic analysis, is presented. First, the mechanism analysis and synthesis method based on multibody system dynamics is carried out through the analysis of the system topology and connectivity. We conclude that the earthmoving multibody system is a spatial hybrid mechanism, which consists of a spatial parallel mechanism and a spatial serial mechanism. Second, a number of new spatial parallel mechanisms, which are advantageous with respect to the original one under certain conditions, are generated. The kinematic characteristics of the parallel mechanism family are investigated in terms of constraint equations formulated in natural coordinates. Third and last, kinematic simulations and optimization processes are carried out to evaluate the advantages of the presented spatial parallel mechanisms. Simulation results show that these mechanisms can provide better kinematic performance.

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“…At present, Newton-Euler and Lagrange equation [1,2] are widely used in the dynamics research. For the complex logical deduction and hard solution in these equations, the Huston method based on Kane equation [3] is used in this paper to analyse the working device of hydraulic excavator which involves boom, arm and bucket.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Analysis and Fuzzy Control for the Working Device of Hydraulic Excavator

Xie

2016

Advances in Intelligent Systems and Computing

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The Kane-Huston is adopted in this paper to build the topological structure for the working device of hydraulic excavator. And the virtual prototyping model of the working device is built by the virtual prototype analysis software. Through analysis of the mechanical properties of working device on real working condition and comparing the inverse dynamics gotten by the Kane-Huston with that gotten by the virtual prototype model in software, the correctness of the dynamic equations from the Kane-Huston is verified. Finally, fuzzy control method is used for the optimization of bucket tip trajectory and it has good control effect in the software simulation environment.

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Dynamically optimal trajectories for earthmoving excavators

Cited by 56 publications

References 8 publications

A Review on Mechanical and Hydraulic System Modeling of Excavator Manipulator System

A Review on Mechanical and Hydraulic System Modeling of Excavator Manipulator System

Identification, design and kinematic analysis of an earthmoving mechanism

Dynamics Analysis and Fuzzy Control for the Working Device of Hydraulic Excavator

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