BASELINES OF THE PROCEDURE FOR ESTIMATING VELOCITY AND ACCELERATION OF SINGLE-BUCKET HYDRAULIC EXCAVATOR ATTACHMENTS AT EARLY DESIGN STAGES

The basic elements of estimation procedure for the velocity and acceleration of individual attachments of single-bucket hydraulic excavators at early design stages are described. The procedure is illustrated in terms of the booming up–down mechanism and in case of simultaneous boom and lever movement. The procedure includes an enlarged algorithm of movement equations and contains auxiliary equations. In the article, it is emphasized that there is a connection between the boom movement equation and the known functional derived in the biomechanics and robotics more than 40 years ago and related with the pulsed control, which potentially makes it possible to analyze the pulsed control as applied to hydraulic excavators. Later on, the developed procedure can be successfully used to study model problems of synthesis of excavator control systems.


This study was supported by the Russian Foundation for Basic Research, Project No. 17-08-00920-a.

Keywords

Single-bucket hydraulic excavators, attachment, velocity and acceleration of attachments, movement equation.

Issue number: 11
Year: 2018
ISBN:
UDK: 621.878/.879
DOI: 10.25018/0236-1493-2018-11-0-129-135
Authors: Pobegaylo P. A., Ilyina A. N.

About authors: Pobegaylo P.A., Candidate of Technical Sciences, Senior Researcher, A.A. Blagonravov Mechanical Engineering Research Institute of Russian Academy of Sciences, 101990, Moscow, Russia, e-mail: petrp214@yandex.ru, Ilyina A.N., Senior Lecturer, Moscow Aviation Institute (National Research University), 125993, Moscow, Russia, e-mail: happyday@list.ru.

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