Geometric modeling of the processes of excavation by an excavator in order to prevent damage to the pipeline wall
When controlling the motion of the excavator bucket, the operator controls the translational motions in the hydraulic cylinders, which are generally independent. However, ensuring the motion of the cutting edge of the bucket along a given trajectory (for example, along a horizontal straight line)...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Omsk State Technical University, Federal State Autonoumos Educational Institution of Higher Education
2023-06-01
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| Series: | Омский научный вестник |
| Subjects: | |
| Online Access: | https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2023/%E2%84%962%20(186)%20(%D0%9E%D0%9D%D0%92)/28-34%20%D0%9F%D1%80%D0%B8%D1%82%D1%8B%D0%BA%D0%B8%D0%BD%20%20%D0%A4.%20%D0%9D.,%20%D0%9A%D1%83%D0%B7%D0%BD%D0%B5%D1%86%D0%BE%D0%B2%20%D0%98.%20%D0%A1..pdf |
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| Summary: | When controlling the motion of the excavator bucket, the operator controls the
translational motions in the hydraulic cylinders, which are generally independent.
However, ensuring the motion of the cutting edge of the bucket along a given
trajectory (for example, along a horizontal straight line) requires certain skills and
additional concentration of attention from the operator. This significantly affects the
fatigue of the operator during these works. In this case, it becomes relevant to solve
the problem of developing an automated control system that makes it possible to
calculate the change in the angles of rotation in the rotary joints of the excavator,
which provide the specified motion of the bucket. In this case, the operator can
only indicate the start and target points of the trajectory and the direction of
motion of the bucket. In the article, based on the research, an algorithm has been
developed that allows you to simulate the motion of points of an excavator bucket
with a given distance from the upper edge of the pipeline. The results of computer
simulation of the motion of the excavator manipulator are presented. |
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| ISSN: | 1813-8225 2541-7541 |