Kinematics of Excavators (Backhoes) for Transferring Surface Material

Koivo, A.J.

doi:10.1061/(asce)0893-1321(1994)7:1(17)

Cited by 69 publications

(47 citation statements)

References 4 publications

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“…Koivo et al [39] extended the earlier work Koivo [36] and presented a dynamic model for the excavators (backhoe). The model comprises of detailed kinematic and dynamic equations for the backhoe using Newton-Euler recursive techniques.…”

Section: Kinematic and Dynamic Modelingmentioning

confidence: 77%

“…Koivo [36] later presented a detailed kinematic model for backhoe excavator using the Denavit and Hartenberg [37] notation. In that research, Koivo [36]gave a detailed description of the scheme for the coordinate frame assignment and the estimation of structural kinematic parameters. The forward and reverse kinematic equations for the backhoe were developed using the NewtonEuler formulations.…”

Section: Kinematic and Dynamic Modelingmentioning

confidence: 99%

See 1 more Smart Citation

Cable Shovel Stress & Fatigue Failure Modeling - Causes and Solution Strategies Review

Raza

Frimpong²

2013

J Powder Metall Min

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Section: Kinematic and Dynamic Modelingmentioning

confidence: 77%

Section: Kinematic and Dynamic Modelingmentioning

confidence: 99%

Cable Shovel Stress & Fatigue Failure Modeling - Causes and Solution Strategies Review

Raza

Frimpong²

2013

J Powder Metall Min

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“…However there has been a rise in accident numbers in controlled construction environments with respect to the number of units being used, which has been a major health and safety concern [29]. The manipulator kinematics has been introduced by Koivo et al [30], extended to dynamics by Vähä and Koivo [31,32]. Subsequent works have followed the modelling approach proposed by these researchers in attempting to develop the dynamics and control methods however until date only some studies based on the real arm [33,34] have shown partial success in implementation.…”

Section: List Of Symbolsmentioning

confidence: 99%

“…Planar kinematics of a manipulator arm with three revolute joints has been presented in Ref. [30] following the Denavit-Hartenberg [54] convention of coordinate system assignment. Computation of the forward kinematics of such mechanisms is straightforward.…”

Section: History Of Dynamic Modellingmentioning

confidence: 99%

A review of friction models in interacting joints for durability design

2017

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This paper presents a comprehensive review of friction modelling to provide an understanding of design for durability within interacting systems. Friction is a complex phenomenon and occurs at the interface of two components in relative motion. Over the last several decades, the effects of friction and its modelling techniques have been of significant interests in terms of industrial applications. There is however a need to develop a unified mathematical model for friction to inform design for durability within the context of varying operational conditions. Classical dynamic mechanisms model for the design of control systems has not incorporated friction phenomena due to non-linearity behaviour. Therefore, the tribological performance concurrently with the joint dynamics of a manipulator joint applied in hazardous environments needs to be fully analysed. Previously the dynamics and impact models used in mechanical joints with clearance have also been examined. The inclusion of reliability and durability during the design phase is very important for manipulators which are deployed in harsh environmental and operational conditions. The revolute joint is susceptible to failures such as in heavy manipulators these revolute joints can be represented by lubricated conformal sliding surfaces. The presence of pollutants such as debris and corrosive constituents has the potential to alter the contacting surfaces, would in turn affect the performance of revolute joints, and puts both reliability and durability of the systems at greater risks of failure. Key literature is identified and a review on the latest developments of the science of friction modelling is presented here. This review is based on a large volume of knowledge. Gaps in the relevant field have been identified to capitalise on for future developments. Therefore, this review will bring significant benefits to researchers, academics and industry professionals.

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“…[2] presents a dynamic model for an excavator with the intention of developing an automated excavation control system for terrestrial, lunar, and planetary excavation. The kinematics of excavators having hydraulic actuators are investigated in detail in [3]. Ref.…”

Section: Introductionmentioning

confidence: 99%

Surmounting obstacles by arm maneuver for unmanned power shovel

Jayasekara

Arisumi

2015

Robomech J

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Large debris created after natural disasters restrict access to inner parts of affected regions, and slows down disaster relief operations. Power shovels are often used to clear wreckage but the process can take a lot of time. Moreover, it is dangerous to involve human workers operating heavy machinery in such unstable conditions. To speedup access to inner areas, obstacles can be surmounted with the assistance of carefully maneuvered power shovel arm, instead of removing them. In this work, an autonomous obstacle surmounting technique for an unmanned power shovel is proposed. Out of different sequences, the one that optimizes the total energy consumption is chosen as the best candidate for surmounting a given step-like obstacle. Dynamic simulation results show the effectiveness of the proposed method.

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Kinematics of Excavators (Backhoes) for Transferring Surface Material

Cited by 69 publications

References 4 publications

Cable Shovel Stress & Fatigue Failure Modeling - Causes and Solution Strategies Review

Cable Shovel Stress & Fatigue Failure Modeling - Causes and Solution Strategies Review

A review of friction models in interacting joints for durability design

Surmounting obstacles by arm maneuver for unmanned power shovel

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