Details

Autor(en) / Beteiligte

• He, Liang
• Wang, Fen
• Wang, YaPing
• Li, Wei
• Ma, Jiao
• Chen, Zhenglong
• Cai, Ganwei

Titel

Analysis of Mechanism Elastodynamic Performance in Automatic Excavating Process of Excavating Robot

Ist Teil von

• Intelligent Robotics and Applications, p.88-100

Ort / Verlag

Singapore: Springer Nature Singapore

Link zum Volltext

Quelle

Alma/SFX Local Collection

Beschreibungen/Notizen

• The robotization of excavator has become an important development trend, the calculation and analysis of the dynamic performance of excavating robot during the automatic excavation process is the foundation for optimizing the design, fatigue analysis, and vibration research of their working devices. Due to the different elastic angles and curvatures at the connection between the hydraulic cylinder and the hydraulic rod, this paper proposes a hydraulic driving element unit. Taking excavation of foundation pits as an example, the particle swarm optimization algorithm is used to calculate the joint angle values corresponding to the path points, and the joint trajectory is interpolated using a cross difference polynomial. Based on the classic soil bucket model, a finite element model diagram of the hydraulic excavator working device is established, and the first three natural frequencies and dynamic response of the bucket end during the operation process are solved. The calculation trajectory of the bucket tooth tip during excavation of the foundation pit is obtained.