Digging Process Simulation for Hydraulic Excavator Using Improved Resistive Force Model
In order to effectively evaluate the energy consumption and plan its motions, a hydraulic excavator requires a simulator which can predict the resistive forces encountered as it digs soil from the terrain to approximate the real digging process.In this work, a simulation framework which includes trajectories generation module, inverse kinematics module, excavator static model module and resistive force prediction module is developed.Based on previous work, an improved three-dimensional model of soil-bucket interaction is proposed.In addition, the paper presents a simplified analytically formulated model to calculate the horizontal and vertical resultant resistive forces as well as the resultant resistive moment.To obtain the cylinder pressure fluctuation of hydraulic cylinders during digging process, inverse kinematic and static model of hydraulic excavator are established.As a demonstrated example, simulation of a digging process along the pre-set trajectory is provided to verify the capabilities of presented framework.
soil-bucket interaction improved resistive force model digging process simulation excavator
Chen Jin Zou Zhihong Pang Xiaoping
College of Mechanical Engineering, Chongqing University, Chongqing 400030, China
国际会议
西安
英文
26-30
2015-09-18（万方平台首次上网日期，不代表论文的发表时间）