Transactions of the Korean Society of Machine Tool Engineers (한국공작기계학회논문집)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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A Study on Reversal Stability of Hydraulic Excavator for Crane Work

유압 굴삭기의 크레인 작업시 전도 안정성에 관한 연구

  • 엄혁 (부산대학교 대학원 지능기계공학과) ;
  • 최종환 (부산대학교 대학원 지능기계공학과) ;
  • 김승수 (울산대학교 RRC) ;
  • 양순용 (울산대학교 기계.자동차공학과) ;
  • 이진걸 (부산대학교 기계공학부)
  • Published : 2004.08.01
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Abstract

In this paper, the dynamic stability of a hydraulic excavator using ZMP concept is considered. When a load is moved in an excavator based on automation, an excavator often loses the stability and falls over. This is because a dynamic element is not included in the moment equilibrium equation that is used in order to judge a reversal. Consequently, reversal distinction algorithm including all a static and a dynamic element along a load movement in crane work is necessary. Zero Moment Point(ZMP) is a point on the floor where the resultant moment of the gravity, the inertial force of the manipulator and the external force is zero. This study is going to interpret the reversal stability of the excavator to which is applied ZMP concept through simulation.

Keywords

References

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