TY - JOUR
T1 - Kinematic modeling and constraint analysis for robotic excavator operations in piling construction
AU - Guan, Dong
AU - Yang, Nan
AU - Lai, Jerry
AU - Siu, Ming Fung Francis
AU - Jing, Xingjian
AU - Lau, Chi Keung
N1 - Funding Information:
The authors gratefully acknowledge the financial support from Fong On Construction Ltd. in Hong Kong (Grant No. ZDBM , ZDCA ), and the work of former research assistant Miss Dandan Li in The Hong Kong Polytechnic University. This work is also supported by the National Natural Science Foundation of China (Grant No. 52005433 ), Natural Science Foundation of Jiangsu Province, China (Grant No. BK20180933 ), the Qing Lan Project and High-end Talent Project of Yangzhou University , Natural Science Foundation of Jiangsu Higher Institutions (Grant No. 19KJB460028 & 20KJB460001 ), Special Cooperation Foundation for Yangzhou & YZU (No. 2020182 ), Yangzhou University International Academic Exchange Fund and Jiangsu Benyu Automobile Body Production Co., Ltd .
Publisher Copyright:
© 2021 Elsevier B.V.
PY - 2021/6
Y1 - 2021/6
N2 - 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.
AB - 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.
KW - kinematic constraint analysis
KW - kinematic modeling
KW - mechanical simulation
KW - Robot excavator
KW - virtual prototyping
UR - http://www.scopus.com/inward/record.url?scp=85102654513&partnerID=8YFLogxK
U2 - 10.1016/j.autcon.2021.103666
DO - 10.1016/j.autcon.2021.103666
M3 - Journal article
AN - SCOPUS:85102654513
SN - 0926-5805
VL - 126
JO - Automation in Construction
JF - Automation in Construction
M1 - 103666
ER -