Abstract
A digging trajectory which is improved energy efficiency for automated hydraulic excavator is generated using a developed simulation model. An efficiently digging operation is achieved by using optimal trajectories because energy efficiency of the operation depends on geometric shape of the trajectory. A simulation mode which is used to optimize digging trajectory in this study reproduces soil model and a front linkage model of excavator. By modeling soil with distinct element method (DEM), the simulation is able to analyze soil behavior during digging operation and to estimate digging soil volume quantitatively. On the other hand, generative force and energy consumption of hydraulic cylinders are calculated by the solving inverse dynamics of front linkage of hydraulic excavator. Combining two models, the developed simulation analyzes energy efficiency of digging trajectory. In this study, geometric shape of the trajectory is determined some trajectory parameters. Simulation model fines that the generated trajectories provide more effective operation than skilled operator by setting optimal parameters. Generated trajectory is shallower than the operator's one, and reduce cylinder force. Moreover, the cycle time per digging operation is shortened by applying generated trajectory.
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