Abstract
The robotization of excavator has become an important development trend, the calculation and analysis of the dynamic performance of excavating robot during the automatic excavation process is the foundation for optimizing the design, fatigue analysis, and vibration research of their working devices. Due to the different elastic angles and curvatures at the connection between the hydraulic cylinder and the hydraulic rod, this paper proposes a hydraulic driving element unit. Taking excavation of foundation pits as an example, the particle swarm optimization algorithm is used to calculate the joint angle values corresponding to the path points, and the joint trajectory is interpolated using a cross difference polynomial. Based on the classic soil bucket model, a finite element model diagram of the hydraulic excavator working device is established, and the first three natural frequencies and dynamic response of the bucket end during the operation process are solved. The calculation trajectory of the bucket tooth tip during excavation of the foundation pit is obtained.
Supported by organization The National Natural Science Foundation of China(51765005), The Guangxi Science and Technology Major Projects(Gui Ke AA19254021) and the Natural Science Foundation of Changsha City(kq2208085).
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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
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He, L. et al. (2023). Analysis of Mechanism Elastodynamic Performance in Automatic Excavating Process of Excavating Robot. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14275. Springer, Singapore. https://doi.org/10.1007/978-981-99-6504-5_8
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DOI: https://doi.org/10.1007/978-981-99-6504-5_8
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