Kinematic modeling and constraint analysis for robotic excavator operations in piling construction
Kinematic modeling and constraint analysis for robotic excavator operations in piling construction
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DOI：
10.1016/j.autcon.2021.103666
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发表时间：
2021-06
影响因子：
10.3
通讯作者：
Dong Guan;Nan Yang;J. Lai;M. Siu;Xingjian Jing;Chi-Keung Lau
中科院分区：
文献类型：
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作者：
Dong Guan;Nan Yang;J. Lai;M. Siu;Xingjian Jing;Chi-Keung Lau
多年来，香港一直使用重型机器进行桩基施工。这些机器减少了危险的手工挖掘的一次性实践。遗憾的是，用重型打桩机械在斜坡地面上施工大直径桩是不现实的，因此，为了克服这一问题，作者发明了一种具有独特施工操作机构的机器人挖掘机。本文以作者设计的挖掘机机器人为基础，建立了挖掘机正向运动的运动学模型和计算机仿真模型。对挖掘作业的运动学特性进行了仿真。建立了运动学约束模型，消除了机器人挖掘机与桩身之间的任何接触。研究结果为实际工程中桩施工机器人挖掘机的设计和控制提供了基本依据。
Heavy-duty machines have been utilised for pile construction in Hong Kong for many years. These machines have reduced the one-time practise of dangerous excavation by hand. Unfortunately, it is not practical to construct large diameter piles on sloping ground using heavy-duty piling machines, so, to overcome this problem, the authors invented a robot excavator with a unique operating mechanism for pile construction. In this article, based on the authors' robot excavator designs, the forward motion kinematics and computer simulation models are described and developed. Kinematic characteristics with respect to digging operations were simulated. Kinematic constraint models were also established to eliminate any contact between the robot excavator and pile shaft. The findings provide a fundamental basis of designing and controlling the robotic excavators for pile construction in practice.