Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Kinematic modeling and constraint analysis for robotic excavator operations in piling construction
Abstract Heavy-duty machines have been utilised for pile construction in Hong Kong for many years. These machines have reduced the one-time practise of dangerous excavation by hand. Unfortunately, it is not practical to construct large diameter piles on sloping ground using heavy-duty piling machines, so, to overcome this problem, the authors invented a robot excavator with a unique operating mechanism for pile construction. In this article, based on the authors' robot excavator designs, the forward motion kinematics and computer simulation models are described and developed. Kinematic characteristics with respect to digging operations were simulated. Kinematic constraint models were also established to eliminate any contact between the robot excavator and pile shaft. The findings provide a fundamental basis of designing and controlling the robotic excavators for pile construction in practice.
Highlights Robot excavators are desirable to improve worker safety performance. Forward motion kinematic model of a robot excavator is presented. Computer simulations are described for validating the kinematic model. Working modes of excavators are simulated to enhance vibration performance. Kinematic constraint models are established considering working space in pile shaft. Fundamental basis in designing and controlling robotic excavators is presented to advance autonomous pile construction.
Kinematic modeling and constraint analysis for robotic excavator operations in piling construction
Abstract Heavy-duty machines have been utilised for pile construction in Hong Kong for many years. These machines have reduced the one-time practise of dangerous excavation by hand. Unfortunately, it is not practical to construct large diameter piles on sloping ground using heavy-duty piling machines, so, to overcome this problem, the authors invented a robot excavator with a unique operating mechanism for pile construction. In this article, based on the authors' robot excavator designs, the forward motion kinematics and computer simulation models are described and developed. Kinematic characteristics with respect to digging operations were simulated. Kinematic constraint models were also established to eliminate any contact between the robot excavator and pile shaft. The findings provide a fundamental basis of designing and controlling the robotic excavators for pile construction in practice.
Highlights Robot excavators are desirable to improve worker safety performance. Forward motion kinematic model of a robot excavator is presented. Computer simulations are described for validating the kinematic model. Working modes of excavators are simulated to enhance vibration performance. Kinematic constraint models are established considering working space in pile shaft. Fundamental basis in designing and controlling robotic excavators is presented to advance autonomous pile construction.
Kinematic modeling and constraint analysis for robotic excavator operations in piling construction
Guan, Dong (Autor:in) / Yang, Nan (Autor:in) / Lai, Jerry (Autor:in) / Siu, Ming-Fung Francis (Autor:in) / Jing, Xingjian (Autor:in) / Lau, Chi-Keung (Autor:in)
08.03.2021
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Excavator piling device and strategy for hitting pine pile by using excavator piling device
| Europäisches Patentamt | 2015
| Engineering Index Backfile | 1957