Modelling of the Manipulator of a Mini Hydraulic Excavator

被引：0
|
作者：
de Oliveira, Everton Lins [1 ]
Donha, Decio Crisol [1 ]
机构：
[1] Univ Sao Paulo, BR-2231 Sao Paulo, SP, Brazil
来源：
PROCEEDINGS OF DINAME 2017 | 2019年
关键词：
Hydraulic excavator; Hydraulic manipulator; Excavator model; Manipulator model; Dynamic model; Computational model;
D O I：
10.1007/978-3-319-91217-2_21
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Small hydraulic excavators are versatile machines used in a wide range of operations such as digging, removal of debris, transportation of cargo and earthmoving. Operating a hydraulic excavator in certain environments is a difficult and dangerous task, especially in hazardous environments subject to natural disturbances or inadequate health conditions for human work. Because of these conditions, the automation of excavators or its components has been the subject of many studies in recent years. In this paper, to enable the development of a control system for the manipulator of a mini excavator, a complete mathematical model of the manipulator dynamics is developed. The work includes the validation of the model of the manipulator by means of simulation of a computational model and by comparison with the results obtained by a commercial software of dynamic analysis. Results are discussed and evaluated and suggestions for future work are enclosed.
引用
收藏
页码：305 / 318
页数：14
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