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Precision Analysis of Earthworks Made by Power Shovel Actuator

Arina D. Terenteva
Department of Robotics and Complex Automation, Bauman Moscow State Technical University, Moscow, Russian Federation

Abstract— In building industry there is a need to use high-precision construction vehicles equipped with control systems for trenching. The most promising machines equipped with a control system are based on adaptive methods so they allow you to choose the control algorithm during work processes. The need for such systems is caused by high requirements to the production of excavation work, the established construction norms and rules. A significant proportion of works on laying of communications is performed using shovel excavators with hydraulic drive. To obtain practical recommendations for improving the accuracy and application of control systems a mathematical model of working mechanism of the shovel excavator was developed. It allows us to assess the accuracy of excavation work, to identify possible sources of geometric errors and to compile a working area and a service area. It is also possible to analyse kinematic and process errors and identify their sources. Two ways to reduce error to acceptable limits with the use of a control system, and without it on existing equipment are proposed in this paper. 
Index Terms— shovel excavator, mathematical model, control system, service area, accuracy

Cite: Arina D. Terenteva, "Precision Analysis of Earthworks Made by Power Shovel Actuator" International Journal of Mechanical Engineering and Robotics Research, Vol. 8, No. 6, pp. 977-981, November 2019. DOI: 10.18178/ijmerr.8.6.977-981