The Motion Planning Analysis And Design Optimization Of Excavator Based On AMESim Model

Hydraulic excavator is widely used in water conservancy project, transportationindustry, electrical power engineering, mining and other mechanical constructionsand disaster scenes. Although we have relatively comprehensive researches on robotmotion planning algorithm, the demand of the motion planning of robotic excavator isdifferent from general industrial robots due to the particularity of robotic excavatorperformance and complexity of environment. At present, there are still someproblems in the research on hydraulic excavator:1) The hydraulic system will make the excavator motion prone to jitter, in theautomatic control process.2) There is inevitable collision or contact with the mining objects during themining process of mining robot.3) Testing the real machine require the higher cost and time-consuming.These problems bring many more constraint conditions in designing motionplanning of robotic excavator, and also make it more complex in consideration ofplanning process, that is, it needs a higher requirement for motion planning ofexcavator. The motion planning of hydraulic excavator includes the integratedplanning of motion planning through free space and mining movement, using highquality motion planning which is combined with simple control method cannot onlyavoid vibration in hydraulic system but also guarantee high efficiency of excavatorsystem movement. For this reason, this paper presents the appropriate motionplanning method.1) The efficient motion planning through free space algorithm based on PSO(particle swarm optimization) can ensure the bucket motion from the starting point tothe target point in shortest time while ensuring the smooth movement.2) The preimage planning algorithm of mining based on bi-RRT (Bi-directionalrapidly-exploring random tree), in the environment of unpredictable heterogeneousmedium, can execute compliant motions effectively, and also complete mining movement rapidly and smoothly.JG915hydraulic excavator which is produced by Fujian Jingong MachineryCo.Ltd is used as parametric models in this paper. Excavator kinematics equations,equations of hydraulic cylinder length and the joint angle conversion, and motionplanning algorithm models are established in MATLAB, then the model forexcavator’s agency system and hydraulic system is made based on AMEsim. Finally,the collaborative simulation is conducted in AMESim and MATLAB.In this paper, the design verifies the effectiveness of excavator motion planningalgorithm, and also reduces the cost of research and development greatly.