• 유공압시스템학회논문집
• /
• 제6권4호
• /
• pp.9-15
• /
• 2009

Hydraulic excavators are the representative of field robot and have been used in various fields of construction. Since the excavator operates in the hazardous working environment, operators of excavator are exposed in harmful environment. Therefore, the hydraulic excavator automation and remote operation system has been investigated to protect from the hazardous working environment. In this paper, remote operation excavator system is developed using the mini hydraulic excavator and the tracking control system of each links of excavator is designed. To apply the tracking control system, the adaptive sliding mode control algorithm is proposed. It is found that the performance of the proposed control system is improved through experimental results of using the remote operation excavator system.

• 제어로봇시스템학회논문지
• /
• 제3권4호
• /
• pp.422-434
• /
• 1997

In this paper, a two-stage kinematic optimal design for a 3 degree of-freedom (DOF) excavator subsystem, which consists of boom, arm and bucket, is performed. The objective of the first stage is to find the optimal parameters of the joint-actuating mechanisms which maximize the force-torque transmission ratio between the hydraulic actuator and the rotating joint. The objective of the second stage is to find the optimal link parameters which maximize the isotropic characteristic of the excavator subsystem throughout the workspace. It is illustrated that kinematic/dynamic performances of the kinematically optimized excavator subsystem have improved compared to those of original HE280 excavator, with respect to three performance indices such as maximum load handling capacity, maximum velocity capability, and acceleration capability.

• 한국정밀공학회지
• /
• 제24권12호
• /
• pp.82-87
• /
• 2007

Excavator has been used in wide field since the attachment in the end effect can be changeable according to the purpose of working. However, efficiency of work using excavator mainly depends on an operator's ability. For the purpose of improving the efficiency of work and reducing the fatigue of operator, the automatic excavator system has been researched. In this paper, the tracking control system of each links of excavator is designed before developing the automatic excavator system. In order to apply the tracking control system, the pneumatic excavator system is developed and the tracking control system is applied. For designing the tracking control system, the adaptive sliding mode control algorithm is proposed. The performance of the proposed control system is evaluated through experiments using the pneumatic excavator system.

• 한국산림과학회지
• /
• 제87권1호
• /
• pp.82-89
• /
• 1998

임도공사지의 토공작업을 대상으로 $0.8m^3$용량의 굴삭기와 $1.0m^3$굴삭기를 사용하여 임도시공시 토공작업의 작업시간, 작업능률, 그리고 작업능률에 영향을 미치는 임도의 선형요소를 분석하였다. 1일 작업시간은 평균 8시간 23분으로 조사되었고, 총작업시간(Total working time) 중 순수작업시간(Net working time)이 85.7%, 여유시간이 14.3%로 조사되었으며, 순수작업시간(Net working time) 중 흙 운반(St)과 절토(Ec)의 비율이 38.6%와 32.5%를 차지하는 것으로 나타났다. 작업능률을 분석한 결과, $0.8m^3$용량의 굴삭기로 토사지역에서 작업을 한 경우 직선부의 작업능률이 곡선부보다 약 1.4배 높은 것으로 조사되었다. 또한 직선부에서 $0.8m^3$용량의 굴삭기로 작업을 수행한 경우 버켓을 이용한 토사작업의 능률이 브레이커를 이용한 암작업의 작업능률보다 약 9.1배 높은 것으로 나타났다. 토사지역에서 $0.8m^3$ 및 $1.0m^3$용량의 굴삭기로 작업을 수행한 결과, 직선부와 곡선부에서 $1.0m^3$용량의 굴삭기가 $0.8m^3$보다 약 1.3배의 작업능률을 보였다. 그리고, 토사지역에서 $0.8m^3$용량을 굴삭기를 대상으로 작업능률과 이에 영향을 미치는 임도의 선형요소를 분석한 결과, 곡선반지름, 노폭, 사면경사가 작업능률에 크게 영향을 미치는 것으로 조사되었으며, 벌채된 지장목의 벌근경과 본수는 작업능률에 거의 영향을 미치지 않는 것으로 조사되었다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1994년도 추계학술대회 논문집
• /
• pp.617-622
• /
• 1994

In this paper, we perform a two-stage, kinematic optimal design for 3 degree-of-freedom excavator system which consists of boom, arm, and bucket. The objective of the first stage is to find the optimal joint parameters which maximize the force-torque transmission ratio between the hydraulic actuator and the rotating joint. The objective of the first stage is to find the optimal link parameters which maximize the isotropic characteristic throughout the workspace. It is illustrated that performances of the optimized excavator are improved compared to those of HE280 excavator, with respect to the described performace index and maximum load handling capacity.

• 유공압시스템학회논문집
• /
• 제3권3호
• /
• pp.14-19
• /
• 2006

Recently, the cylinder of the excavator is applied in the various environment. So, we need the development of the simulator for the excavator. The simulator has the effects of the decrease of the cost and improvement of the cylinder's performance. In this paper, we design the simulator for the excavator and makes an analysis of the dynamics and structure. The simulator was applied to the excavator's models of 10ton, 20ton and 30ton because we built the data base of a real excavator's cylinder of information in the experiment. And we used the FEM analysis for the comparative study on the characteristics.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.151-155
• /
• 1996

To automate an excavator the control issues resulting from environmental uncertainties must be solved. In particular the interactions between the excavation tool and the excavation environment are dynamic, unstructured and complex. In addition, operating modes of an excavator depend on working conditions, which makes it difficult to derive the exact mathematical model of excavator. Even after the exact mathematical model is established, it is difficult to design of a controller because the system equations are highly nonlinear and the state variable are coupled. The objective of this study is to design a multi-layer neural network which controls the position of excavator's attachment. In this paper, a dynamic controller has been developed based on an error back-propagation(BP) neural network. Computer simulation results demonstrate such powerful characteristics of the proposed controller as adaptation to changing environment, robustness to disturbance and performance improvement with the on-line learning in the position control of excavator attachment.

• 유공압시스템학회논문집
• /
• 제6권4호
• /
• pp.1-8
• /
• 2009

Nowadays with the high fuel prices, the demands for energy saving and green emission of construction machinery have highly been increased without sacrifice of working performance, safety and reliability. The aim of this paper is to propose a new energy saving hybrid excavator system using an electro-hydraulic actuator driven by an electric motor/generator for the regeneration of potential energy. A 5 ton class excavator is analyzed, developed with the boom for the evaluation of the designed system. The hardware implementation is also presented in this paper. A control strategy for the hybrid excavator is proposed to operate the machine with a highest efficiency. The energy saving ability of the proposed excavator is clearly verified through simulation and experimental results in comparison with a conventional hydraulic excavator.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 G
• /
• pp.3054-3056
• /
• 1999

There have been numerous risks for excavator operator in working space. To overcome these riske, many researchers have been studied automation of excavator system. In these studies, excavator system is introduced by many researchers based on master-slave force feedback system. In this paper, a remote manipulation excavator is introduced based on force feedback. The proposed remote manipulation excavator system can give a feeling that the operator maneuvers the object directly, resulting in improved reality and efficiency. To demonstrate its performance, experiments are carried out on a test bed which is built around a commercial Hyundai HX-60W hydraulic excavator.

• 한국생산제조학회지
• /
• 제18권6호
• /
• pp.642-651
• /
• 2009

The history of excavator design is not long enough which still causes most of the design considerations to be focused on static analysis or simple functional improvement based on static analysis. However, the real forces experiencing on each component of excavator are highly transient and impulsive. Therefore, the prediction and the evaluation of the movement of the excavator by dynamic load in the early design stage through the dynamic transient analysis of the excavator and ensuring of design technique plays an importance role to reduce development-cost, shorten product-deliver, decrease vehicle-weight and optimize the system design. In this paper, Commercial software DADS and ANSYS help to develop the track model of the crawler type excavator, and to evaluate the performance and the dynamic characteristics of excavator with various simulations. For that reason, the track of crawler type excavator is modelled with DADS Track Vehicle Superelement, and the reaction forces on the track rollers were predicted through the driving simulation. Also, the upper frame and cabin vibration characteristics, at the low RPM idle state, were evaluated with engine rigid body modelling. And flexibility body effects were considered to determine the more accurate joint reaction forces and accelerations under the upper frame swing motion.