Digging method analyzing organogenic materials mining by in-pit method

The article presents an analysis of a method for excavating peat raw materials from a quarry slope using a hydraulic excavator equipped with a reverse shovel. The main attention is paid to the study of the kinematics of the excavator hydraulic manipulator to ensure the extraction of raw materials from the slope of the quarry with a constant chip thickness and bucket positioning angle. The Denavit–Hartenberg method for solving a direct kinematics problem allows converting bucket coordinates from an associated coordinate system to a basic coordinate system and uniquely determining the position of the bucket's cutting edge in space. To solve the inverse kinematics problem, a geometric method based on trigonometric transformations is used. The algorithm includes a system of equations that relates the coordinates of the bucket movement to the geometric parameters of the hydraulic manipulator links (boom, handle and bucket) and their rotation angles. This ensures that the bucket moves along a given trajectory with a constant positioning angle and chip thickness. Based on the solutions obtained, a Python program has been developed that simulates the trajectory of the bucket's cutting edge with known input parameters: geometric characteristics of the excavator (link lengths) and the quarry (deposit depth, slope angle). The result of the simulation in the program is the trajectory of the cutting edge of the bucket while maintaining the constancy of the positioning angle and chip thickness, which corresponds to the principles of excavation of peat raw materials. The results of the research can be used to develop automatic bucket positioning control systems, which will improve the efficiency of the mining process.

Mikhailov А. V., Smirnov А. I. Digging method analyzing organogenic materials mining by in-pit method. MIAB. Mining Inf. Anal. Bull. 2026;(2-1):197-209. [In Russ]. DOI: 10.25018/0236_1493_2026_21_0_197.

А.V. Mikhailov¹, Dr. Sci. (Eng.), Professor, e-mail: Mikhaylov_AV@pers.spmi.ru, ORCID ID: 0000-0002-0516-7737,
A.I. Smirnov¹, Graduate Student, e-mail: s235065@stud.spmi.ru, ORCID ID: 0009-0004-5609-9246,
¹ Empress Catherine II Saint-Petersburg Mining University, Saint-Petersburg, 199106, Russia.

A.I. Smirnov, e-mail: a.s.555@inbox.ru.

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