Kinematic modeling and constraint analysis for robotic excavator operations in piling construction

Dong Guan, Nan Yang, Jerry Lai, Ming Fung Francis Siu, Xingjian Jing, Chi Keung Lau

Research output: Journal article publicationJournal articleAcademic researchpeer-review

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Article number103666
JournalAutomation in Construction
Volume126
DOIs
Publication statusPublished - Jun 2021

Keywords

  • kinematic constraint analysis
  • kinematic modeling
  • mechanical simulation
  • Robot excavator
  • virtual prototyping

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Civil and Structural Engineering
  • Building and Construction

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