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Kinematic Analysis of an Under-actuated, Closed-loop Front-end Assembly of a Dragline Manipulator

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Abstract

Dragline excavators are closed-loop mining manipulators that operate using a rigid multilink framework and rope and rigging system, which constitute its front-end assembly. The arrangements of dragline front-end assembly provide the necessary motion of the dragline bucket within its operating radius. The assembly resembles a five-link closed kinematic chain that has two independent generalized coordinates of drag and hoist ropes and one dependent generalized coordinate of dump rope. Previous models failed to represent the actual closed loop of dragline front-end assembly, nor did they describe the maneuverability of dragline ropes under imposed geometric constraints. Therefore, a three degrees of freedom kinematic model of the dragline front-end is developed using the concept of generalized speeds. It contains all relevant configuration and kinematic constraint conditions to perform complete digging and swinging cycles. The model also uses three inputs of hoist and drag ropes linear and a rotational displacement of swinging along their trajectories. The inverse kinematics is resolved using a feedforward displacement algorithm coupled with the Newton-Raphson method to accurately estimate the trajectories of the ropes. The trajectories are solved only during the digging phase and the singularity was eliminated using Baumgarte’s stabilization technique (BST), with appropriate inequality constraint equations. It is shown that the feedforward displacement algorithm can produce accurate trajectories without the need to manually solve the inverse kinematics from the geometry. The research findings are well in agreement with the dragline real operational limits and they contribute to the efficiency and the reduction in machine downtime due to better control strategies of the dragline cycles.

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Acknowledgements

The authors are grateful to the anonymous referees for their valuable inputs. The funding from the Robert H. Quenon Endowment at Missouri S&T for this research is also greatly acknowledged.

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Authors and Affiliations

  1. Department of Mining and Nuclear Engineering, Missouri University of Science and Technology, Rolla, 65409, USA

    Muhammad A. Wardeh & Samuel Frimpong

  2. Center for Infrastructure Engineering Studies, Missouri University of Science and Technology, Rolla, 65409, USA

    Muhammad A. Wardeh

Authors
  1. Muhammad A. Wardeh
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  2. Samuel Frimpong
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Correspondence to Muhammad A. Wardeh.

Additional information

Muhammad A. Wardeh received the B. Eng. degree in mechanical design and production from Damascus University, Syria in 2007. He received two M. Eng. degrees in material science and engineering from the Universities of Paris 6 and 11, France in 2011 and 2012, respectively. He received the Ph. D. degree in mining engineering (engineering mechanics with a focus on computational multibody dynamics and virtual modeling) from Missouri University of Science and Technology (Missouri S&T), USA in 2018. From 2006 to 2009, he worked for multiple engineering firms in China and Europe. From 2010 to 2012, he was a graduate research assistant in a master’s program (Master MAGIS Materials and Engineering Sciences in Paris), France. In 2019, he served as a research associate in the Center for Infrastructure Engineering Studies at Missouri S&T, USA.

His research interests include computational dynamics, virtual modeling, finite element analysis, and materials constitutive modeling, microstructural materials modeling and their testing and surface characterization.

Samuel Frimpong received the Ph.D. degree from the University of Alberta, Canada in 1992. He is a professor and the Robert H. Quenon Endowed Chair at Missouri S&T and Director of the Heavy Machinery Research Laboratory. His professional experience includes over 30 years of research and teaching, over 20 years of university administration, and several years of industry practice. He has been recognized with the 2018 Faculty External Recognition Award by Missouri S&T; 2018 Outstanding Faculty of the Year Award by Sigma Chi Fraternity at Missouri S&T; 2017 Daniel C. Jackling Award by Society for Mining, Metallurgy and Exploration (SME); 2010 Missouri S&T Chancellor’s Leadership Award; Robert H. Quenon Endowed Chair by Missouri S&T, USA (2004); Distinguished Lecturer Award by Canadian Petroleum Institute (1998–2004); 1997 Award of Distinction by World Mining Congress; University of Alberta/Canadian International Development Agency Ph. D. Scholar (1989–1992); Life Patron of George Grant University of Mines and Technology Alumni Association (2001); 1989 Grand Award by the NW Mining Association, UNESCO Research Fellowship (1986–1988) and State Gold Mining Corporation (SGMC) Gold Scholar (1981–1986). Frimpong is a member of APLU Board on Natural Resources, College of Reviewers for Canada Foundation for Innovation and Canada Research Chairs’ Program and ASCE-UNESCO Scientific Committee on Emerging Energy Technologies (ASCE-UNESCO SCEET). He is currently the Editor-In-Chief of the Journal of Powder Metallurgy and Mining; Editor-In-Chief of International Journal of Mining Engineering and Technology; Editor of Research and Reports on Metals; Editorial Board Member for International Journal of Mining Science; Editor of the Journal of MOJ Mining and Metallurgy; Editorial Board Member for International Journal of Mining, Reclamation and Environment; and Associate Editor for Mining and Minerals Engineering. He is a registered professional engineer and a member of the Association of Professional Engineers and Geoscientists of Alberta, Canadian Institute of Mining, Metallurgy and Petroleum, The Society for Mining, Metallurgy, and Exploration (SME), American Society of Civil Engineers (ASCE), and Society for Modeling & Simulation International.

His research interests include formation excavation engineering, mine automation and intelligent mining systems, synthetic and renewable energy, machine dynamics and fatigue modeling, and mine safety and health.

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Wardeh, M.A., Frimpong, S. Kinematic Analysis of an Under-actuated, Closed-loop Front-end Assembly of a Dragline Manipulator. Int. J. Autom. Comput. 17, 527–538 (2020). https://doi.org/10.1007/s11633-019-1217-4

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  • DOI: https://doi.org/10.1007/s11633-019-1217-4

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