Eventos Anais de eventos
DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
DYNAMIC MODELLING OF THE MANIPULATOR OF A MINI-HYDRAULIC EXCAVATOR IN LOAD CONDITION
Submission Author:
Éverton Lins de Oliveira , SP
Co-Authors:
Éverton Lins de Oliveira, Décio Crisol Donha
Presenter: Éverton Lins de Oliveira
doi://10.26678/ABCM.DINAME2017.DIN17-0040
Abstract
Small hydraulic excavators are versatile machines used in a wide range of operations such as digging, removal of debris, the transportation of cargo, ground and in general 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 control for automation of excavators or its components has been the subject of many studies in recent years. In a near future we intend to develop a control system involving all the degrees of freedom to the handler of a mini - excavator. Therefore, within the control methodology in mind, we need a complete mathematical model of the kinematics and dynamics of this mechanism. This work includes an extensive bibliographic review of this problem, where we observe that the majority of work only studies the digging operation and that there are few studies devoted to dynamic modeling of the manipulator in the loaded condition. The work also proposes a path for the simulation of the dynamic models. In a tutorial approach and looking for the most efficient modeling method, the manipulator movements were modelled using three different methods: the Lagrange method, the method of Gibbs-Appell in the form proposed by Kane, and the principle of virtual work. The work also includes comparison and validation by simulating a computational model obtained from the CAD geometry handler, created by commercial software for dynamic analysis. Results are discussed and evaluated and suggestions for future work are enclosed.
Keywords
Excavator, Hydraulic Manipulator, kinematics analysis, dynamic analysis, computational model
