제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Computation of Tipping over Stability Criterion using ZMP algorithm for Hydraulic Excavator having Crane Function

  • Lim, Tae-Hyeong (Department of Mechanical & Automotive Engineering, University of Ulsan) ;
  • Kim, Yong-Seok (Department of Mechanical & Automotive Engineering, University of Ulsan) ;
  • Cheon, Se-Young (Department of Mechanical & Automotive Engineering, University of Ulsan) ;
  • Lee, Young-Ju (Department of Mechanical & Automotive Engineering, University of Ulsan) ;
  • Choi, Jong-Hwan (Department of Intelligent Mechanical Engineering, Pusan National University) ;
  • Lee, Hong-Seon (Department of Construction Equipment, Hyundai Heavy Industry) ;
  • Yang, Soon-Yong (School of Mechanical & Automotive Engineering, University of Ulsan)
  • Published : 2004.08.25
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Abstract

This paper deals with tipping over of hydraulic excavator's crane work. If the excavator lifts too heavy weight, the excavator will be tipped up. This is account for 38% of whole excavator accidents. In this paper, tipping-over load which is maximum load of excavator can lift with displacement of excavator links, real load and tipping-over rate are computed with Zero Moment Point theory. ZMP is verified with simulation and experiment.

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