Optimization of the Motion Algorithm and Reduction of the External Dynamic Load of the Machinery Actuator in Translational and Rotational Modes

Mykhailo Honchar,Jurii Lazaruk,Anatolii Korpach,Volodymyr Musiiko,Pavol Šťastniak,Andrej Suchánek,Volodymyr Nikolaienko

doi:10.3390/sym14010051

Mykhailo Honchar, Jurii Lazaruk + Show 5 more

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https://doi.org/10.3390/sym14010051

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Journal: Symmetry	Publication Date: Jan 1, 2022
Citations: 2	License type: CC BY 4.0

Affiliation: National Transport University, University of Žilina

Abstract

This article deals with the theoretical preconditions for creating a high-performance, universal earthmoving vehicle with continuous motion that can create long grooves of different depths and widths in the soil using a single actuator. For this purpose, a new symmetrical rotor actuator was developed, which operates in translational and rotational modes due to the two-level actuator with a double-swivel mounting on the base chassis, instead of the traditional single-swivel mounting. Its use eliminates the possibility of leveling the thickness of the shavings when digging the soil. The rotor-actuator-movement algorithm at the front part was developed from a combination of vehicle movement and cyclic-lateral-actuator movement. In real practice, this means digging up the soil with even shavings. The implementation of the developed algorithm in the physical model of the symmetrical actuator confirmed the possibility of balancing the thickness of the shavings, which are cut by the rotor buckets with up to 10% accuracy. The difference between the results in determining the thickness of the shavings analytically and experimentally is 12% with a confidence interval of 0.95.

Highlights

Faculty of Automotive and Mechanical Engineering, National Transport University, Faculty of Mechanical Engineering, University of Zilina, Univerzitna 1, 010 26 Zilina, Slovakia; Abstract: This article deals with the theoretical preconditions for creating a high-performance, universal earthmoving vehicle with continuous motion that can create long grooves of different depths and widths in the soil using a single actuator
The non-uniformity of the shaving thickness cut by the actuator in the half-cycle of the operating process, provided that the actuator moves in the face according to the algorithm, is up to 10%
The creation of universal continuous earthmoving machines using a two-lever, two-hinged scheme for the attachment of working equipment at the stern of the base chassis and the development of a workflow-control algorithm make it possible to replace a number of specialized continuous earthmoving machines with one universal machine

Summary

Introduction

Faculty of Automotive and Mechanical Engineering, National Transport University, Faculty of Mechanical Engineering, University of Zilina, Univerzitna 1, 010 26 Zilina, Slovakia; Abstract: This article deals with the theoretical preconditions for creating a high-performance, universal earthmoving vehicle with continuous motion that can create long grooves of different depths and widths in the soil using a single actuator. For this purpose, a new symmetrical rotor actuator was developed, which operates in translational and rotational modes due to the two-level actuator with a double-swivel mounting on the base chassis, instead of the traditional single-swivel mounting. Digging grooves of another profile is possible by re-equipping the vehicle with variable operating equipment [13,16,18]

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