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Review of Hydraulic Excavator
Review of Hydraulic Excavator
Review of Hydraulic Excavator
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Bhavesh Patel
Ganpat University, U.V.Patel College of Engineering, Mehsana, Gujarat, India
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Research Paper
The Hydraulic excavator machines are heavy duty earth mover consisting of a boom, arm and
bucket. It works on principle of hydraulic fluid with hydraulic cylinder and hydraulic motors. The
Hydraulic excavator backhoe operation require coordinated movement of boom, arm and bucket
to control the bucket tip position by following a desired trajectory and to use the excavator
machines effectively in the dark, sever weather, worst working condition, hazardous or unhealthy
environment and dirty areas this can be achieved only through the automatic control of the
hydraulic excavator machine. Controlling of hydraulic excavator machine is possible if the
kinematics and dynamics of the excavator machine are understood. To achieve this goal different
reviews related to kinematics of excavator machine are discussed in this paper which is helpful
to doing the kinematic modelling of the excavator machine. Kinematic modelling is helpful for
understanding behavior and improving the operating performance of the hydraulic excavator
machine.
1
Assistant Professor, Mechanical Engineering Department, U. V. Patel College of Engineering, Ganpat University, Kherva - 384012,
Mehsana Dt., Gujarat, India.
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
defined trajectory as well as digging operation kinematics. Among this they have done
can be carried out successfully at required inverse kinematics for two degree of freedom
location of the terrain using proper positioning by considering boom and arm link. Figure 4
and orientation of the bucket and ultimately shows 2-DOF mini electro hydraulic excavator,
digging task can be automated. Here the third Medanic et. al. (1997) have derived excavator
section highlights the research work carried kinematic relation by considering two link only
out by the researchers in the field of kinematic boom link and arm link (Dongnam Kim et al.,
modelling, which is helpful to understand and 2008; Le Duc Hanh et al., 2009; Medanic et
improving the operating performance of the al., 1997).
backhoe attachment of hydraulic excavator.
Figure 5: Two Link Excavator
Figure 3: Kinematic Modelling
of Excavator
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
Figure 7. To find a feasible way to control and reliability specifications are based
excavator arm and realize autonomous primarily on kinematics. The RH 400
excavation. The exponential product formula Kinematics shown in Figure 8. The Terex O&K
based on screw theory is used to develop the RH 400 is analyzed as a case study reachable
kinematic model of manipulator to get the workspace, mobility during digging and
desired trajectory. The experimental result achievable cutting forces are presented with
exhibits good tracking performance for boom some simplifying assumptions for the
cylinder under the controller developed. The dynamics of the machine. Methods for
peak error is less than 4 degrees. However determining the parameters of the models are
trajectory generation was not demonstrated, discussed,Hongnian Yu et. al. (2010), Quang
and Michael G Lipsett (2009) has described Hoan Le et. al. (2012) and Le Quang Hoan et
Figure 6: Moving Items of Typical
al. have described forward and inverse
Backhoe and Coordinate Frame kinematics of excavator by considering three
Assignment degree of freedom (consider boom, arm and
bucket) for controlling purpose, Schematic
diagram of an excavator shown in Figure 9 and
Projection of the excavator links onto the
vertical plane shown in Figure 10, Bundy and
Gutkowski have described only forward
kinematics of excavator for three degree of
freedom system (consider boom, arm and
bucket) for trajectory generation,Juma Yousuf
Alaydi has described excavator Forward
Figure 7: Kinematic Model for Working
kinematics using Kane method by considering
Mechanism of Hydraulic Excavator three degree of freedom system. Here all
researcher done kinematics of excavator for
three degree of freedom system by
considering boom, arm and bucket link only
Figure 8: RH 400 Kinematics
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
the joint efforts are modelled as Markov excavator prototype shown in Figure 14. The
stochastic processes. Indices called kinematic vector loop method and Visual C++ language
reliabilities are proposed as measures to were used to build the position analysis
assess the performance of a manipulator. The module. The velocity of the links could be
obtained easily by differentiating the position
Figure 12: Excavator Kinematics
equation with respect to time. Link
accelerations were than obtained by
differentiating the velocity equation. The
position analysis determines the working
space of the excavator loader and helps the
designer to choose the proper length and link
configuration and Rosen Mitrev et al. (2011)
have described work related to CAD/CAE
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
Emil Assenov et al. (2003) have carried out Figure 21: Workspace of an Excavator
study on kinematics of working mechanism of
hydraulic excavator. The mechanism of this
manipulator is plane multi-linkage, which
consists of arms joined and hydraulic cylinders.
They have considered the working mechanism
as conjunction of jib, arm and bucket, which
are joined by the cylindrical joints and hydraulic
cylinders. A model of mechanism arm shown
in Figure 19. The equation for the length of the
cylinder is derived. Simulation of such a
mechanism is made by using Lagrange
equation of the first type with unknown
multipliers. The results can be used for creation
(2007) have described a method based on the
of a control system of the working process of
concept of kinematical transformers for finding
the hydraulic excavator. Geu Flores et. al.
closed-form solutions for the kinematics of
Figure 19: A Model Terex face-shovel excavator RH-340 as shown
of Mechanism Arm-jib in Figure 20. In this concept, each multi-body
loop is regarded as a transmission element,
which is coupled by linear equations with the
other multi-body loops. The work space of an
excavator is carried out for a practical face-
shovel excavator using the designed software.
The resulting workspace of an excavator in
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
design environment shown in Figure 21 (Emil Figure 23: Schematic and Various
Assenov et al., 2003; Geu Flores et al., 2007). Dimensions of the Backhoe Model
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
of the robotic excavator. Typical Excavator and joints. Pravak Robot arm is a simple and safe
Its coordinate Frames as shown in Figure 26. robotic system designed for laboratory training
First modelling of the nonlinear hydraulic and research applications. This robot allows
dynamics, coupling manipulator dynamics and to gain theoretical and practical experience in
soil-tool interaction dynamics are reviewed. robotics, automation and control systems.
Then, methods for identification of the Matlab software is used to analyze end
established models are discussed. Finally, effectors position for a set of joint parameter.
robust position control and compliance control Anil Jadhav et al. (2014) have described the
of the robotic excavator are investigated kinematic analysis of whole assembly of
(Hyongju Park et al., 2008; Dongnam Kim et excavator backhoe attachment for
al., 2009; Yan Jun et al., 2013). understanding the behavior of the various joints
Patel and Prajapati (2011) have described which are used for connecting the parts of
review of a work carried out by researchers in excavator machine. Sardana et al. (2013) have
the field of kinematic modelling of the described a simple geometric approach to
excavatorbackhoe attachment to understand solve the problem of multiple inverse kinematic
relations between the position and orientation solutions of redundant manipulators, to find a
of the bucket and spatial positions of joint- single optimum solution and to easily switch
links.Yang Cheng et. al. (2012) have from one solution to another depending upon
described development of hydraulic excavator the path and the environment. Boris Vidolov
attachment. This paper focuses on the and Svetoslav Genchev (2005) have developed
research work of excavator backhoe two heuristic approaches for inverse
attachment, which is mainly includes those kinematics of a real 12 MXT MECALAC
aspects, such as the kinematic analysis, redundant excavator. They have presented a
dynamic analysis, structural analysis, trajectory priority approach and alternating approach in
planning and control, fatigue life analysis and simulation, the method gives a very smooth
structural optimization design and the overall motion. They have developed a
development trends of excavator backhoe simulator in order to test and validate their
attachment in near future are forecasted ( Patel
Figure 27: MECALAC Arm Scheme
and Prajapati, 2011; Yang et al., 2012).
Jolly Shah et al. (2013) have described the
kinematic analysis of a Pravak Robot arm
which is used for doing successful robotic
manipulation task in its workspace. The
Pravak Robot Arm is a 5-DOF robot having all
the joints revolute. The kinematics problem is
defined as the transformation from the
Cartesian space to the joint space and vice
versa. In this study the Denavit-Hartenberg (D-
H) parameter is used to model robot links and
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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015
developments. This is generic tool that allow backhoe Relationship between Cylinder
us to simulate different kinematics and Space to Joint Space and Joint Space to
dynamic models to evaluate various control Cylinder Space (Sanjiv Singh, 1995; Arvind
algorithms, to observe the behavior of the Kumar Sharma, 2005; Joe Frankel, 2003;
different body, actuators, tools of the studied Matthew E Kontz, 2007; Nguyen Hong Quang,
arms, to quantify the capacities of developed 2000).
approaches to follow specified trajectories.
MECALAC arm scheme shown in Figure 27 CONCLUSION
(Jolly Shah et al., 2013; Anil Jadhav et al., A Critical Reviews carried out on kinematics
2014; Sardana et al., 2013; Boris Vidolov and of excavator backhoe attachment and
Svetoslav Genchev, 2005). conclude that no. of researcher work on
kinematics of excavator backhoe attachment
Figure 28: A Backhoe Excavator
by considering boom and arm link only (2-DOF
system) and no. of researcher work on
kinematics of excavator backhoe attachment
by considering boom, arm and bucket link (3-
DOF system) for planner case using this
kinematic model only digging operation can
be controlled but no one can explain deeply
kinematics of excavator by considering swing,
boom, arm and bucket link (4-DOF system)
Figure 29: Kinematic Model
of Backhoe Excavator for three-dimensional space still there is scope
to develop kinematic model of excavator by
considering 4-DOF system by using this
kinematic model both digging and dumping
operation can be controlled which is helpful to
develop autonomous excavator machine.
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