한국CDE학회논문집 (Korean Journal of Computational Design and Engineering)

  • 제20권3호
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  • Pages.298-311
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  • 2015
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  • 2508-4003(pISSN)
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  • 2508-402X(eISSN)
한국CDE학회 (Society for Computational Design and Engineering)
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사이버 물리적 시스템의 개발 - 가상 자율적 굴삭기

Development of a Cyber-physical System - A Virtual Autonomous Excavator

  • Park, Hong-Seok (Lab for Production Engineering, School of Mechanical and Automotive Engineering, University of Ulsan) ;
  • Le, Ngoc-Tran (Lab for Production Engineering, School of Mechanical and Automotive Engineering, University of Ulsan)
  • 투고 : 2014.09.02
  • 심사 : 2015.04.23
  • 발행 : 2015.09.01
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초록

Nowadays, automatic digging operation of an excavator is a big challenge due to the complexity of digging environment, the hardness of soil and buried obstacles into the ground. In order to achieve the maximum soil bucket volume, this paper introduces a novel engineering model that was developed as a virtual excavator in the design phase. Through this model, the designs of mechanical and control systems for autonomous excavator are executed and modified easily before developing in real testbed. Based on a concept of an autonomous excavation, a mechanical system of excavator was first designed in SOLIDWORKS, and a soil model also was modeled by finite-element analysis in ANSYS, both modeled models were then exported to ADAMS environment to investigate the digging behavior through virtual simulation. An intelligent control strategy was generated in MATLAB/Simulink to control the excavator operation. The simulation results were demonstrated by effectiveness of the proposed excavator robot in testing scenarios with many soil types and obstacles.

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참고문헌

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