Geometric modeling of the processes of excavation by an excavator in order to prevent damage to the pipeline wall
When controlling the motion of the excavator bucket, the operator controls the translational motions in the hydraulic cylinders, which are generally independent. However, ensuring the motion of the cutting edge of the bucket along a given trajectory (for example, along a horizontal straight line)...
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| Format: | Article |
| Language: | English |
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Omsk State Technical University, Federal State Autonoumos Educational Institution of Higher Education
2023-06-01
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| Series: | Омский научный вестник |
| Subjects: | |
| Online Access: | https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2023/%E2%84%962%20(186)%20(%D0%9E%D0%9D%D0%92)/28-34%20%D0%9F%D1%80%D0%B8%D1%82%D1%8B%D0%BA%D0%B8%D0%BD%20%20%D0%A4.%20%D0%9D.,%20%D0%9A%D1%83%D0%B7%D0%BD%D0%B5%D1%86%D0%BE%D0%B2%20%D0%98.%20%D0%A1..pdf |
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| _version_ | 1832559096904024064 |
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| author | F. N. Pritykin I. S. Kuznetsov |
| author_facet | F. N. Pritykin I. S. Kuznetsov |
| author_sort | F. N. Pritykin |
| collection | DOAJ |
| description | When controlling the motion of the excavator bucket, the operator controls the
translational motions in the hydraulic cylinders, which are generally independent.
However, ensuring the motion of the cutting edge of the bucket along a given
trajectory (for example, along a horizontal straight line) requires certain skills and
additional concentration of attention from the operator. This significantly affects the
fatigue of the operator during these works. In this case, it becomes relevant to solve
the problem of developing an automated control system that makes it possible to
calculate the change in the angles of rotation in the rotary joints of the excavator,
which provide the specified motion of the bucket. In this case, the operator can
only indicate the start and target points of the trajectory and the direction of
motion of the bucket. In the article, based on the research, an algorithm has been
developed that allows you to simulate the motion of points of an excavator bucket
with a given distance from the upper edge of the pipeline. The results of computer
simulation of the motion of the excavator manipulator are presented. |
| format | Article |
| id | doaj-art-c25db7a459dc46b99f9435ebe58b95b2 |
| institution | Kabale University |
| issn | 1813-8225 2541-7541 |
| language | English |
| publishDate | 2023-06-01 |
| publisher | Omsk State Technical University, Federal State Autonoumos Educational Institution of Higher Education |
| record_format | Article |
| series | Омский научный вестник |
| spelling | doaj-art-c25db7a459dc46b99f9435ebe58b95b22025-02-03T01:30:49ZengOmsk State Technical University, Federal State Autonoumos Educational Institution of Higher EducationОмский научный вестник1813-82252541-75412023-06-012 (186)283410.25206/1813-8225-2023-186-28-34Geometric modeling of the processes of excavation by an excavator in order to prevent damage to the pipeline wallF. N. Pritykin0https://orcid.org/0000-0001-8081-6840I. S. Kuznetsov1https://orcid.org/0000-0002-6524-4976Omsk State Technical UniversityOmsk State Technical UniversityWhen controlling the motion of the excavator bucket, the operator controls the translational motions in the hydraulic cylinders, which are generally independent. However, ensuring the motion of the cutting edge of the bucket along a given trajectory (for example, along a horizontal straight line) requires certain skills and additional concentration of attention from the operator. This significantly affects the fatigue of the operator during these works. In this case, it becomes relevant to solve the problem of developing an automated control system that makes it possible to calculate the change in the angles of rotation in the rotary joints of the excavator, which provide the specified motion of the bucket. In this case, the operator can only indicate the start and target points of the trajectory and the direction of motion of the bucket. In the article, based on the research, an algorithm has been developed that allows you to simulate the motion of points of an excavator bucket with a given distance from the upper edge of the pipeline. The results of computer simulation of the motion of the excavator manipulator are presented.https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2023/%E2%84%962%20(186)%20(%D0%9E%D0%9D%D0%92)/28-34%20%D0%9F%D1%80%D0%B8%D1%82%D1%8B%D0%BA%D0%B8%D0%BD%20%20%D0%A4.%20%D0%9D.,%20%D0%9A%D1%83%D0%B7%D0%BD%D0%B5%D1%86%D0%BE%D0%B2%20%D0%98.%20%D0%A1..pdfmotion synthesisexcavator arm mechanismgeometric modelingpipeline repaircomputer simulation of motionsoutput link |
| spellingShingle | F. N. Pritykin I. S. Kuznetsov Geometric modeling of the processes of excavation by an excavator in order to prevent damage to the pipeline wall Омский научный вестник motion synthesis excavator arm mechanism geometric modeling pipeline repair computer simulation of motions output link |
| title | Geometric modeling of the processes of excavation by an excavator in order to prevent damage to the pipeline wall |
| title_full | Geometric modeling of the processes of excavation by an excavator in order to prevent damage to the pipeline wall |
| title_fullStr | Geometric modeling of the processes of excavation by an excavator in order to prevent damage to the pipeline wall |
| title_full_unstemmed | Geometric modeling of the processes of excavation by an excavator in order to prevent damage to the pipeline wall |
| title_short | Geometric modeling of the processes of excavation by an excavator in order to prevent damage to the pipeline wall |
| title_sort | geometric modeling of the processes of excavation by an excavator in order to prevent damage to the pipeline wall |
| topic | motion synthesis excavator arm mechanism geometric modeling pipeline repair computer simulation of motions output link |
| url | https://www.omgtu.ru/general_information/media_omgtu/journal_of_omsk_research_journal/files/arhiv/2023/%E2%84%962%20(186)%20(%D0%9E%D0%9D%D0%92)/28-34%20%D0%9F%D1%80%D0%B8%D1%82%D1%8B%D0%BA%D0%B8%D0%BD%20%20%D0%A4.%20%D0%9D.,%20%D0%9A%D1%83%D0%B7%D0%BD%D0%B5%D1%86%D0%BE%D0%B2%20%D0%98.%20%D0%A1..pdf |
| work_keys_str_mv | AT fnpritykin geometricmodelingoftheprocessesofexcavationbyanexcavatorinordertopreventdamagetothepipelinewall AT iskuznetsov geometricmodelingoftheprocessesofexcavationbyanexcavatorinordertopreventdamagetothepipelinewall |