Kinematics analysis and trajectory planning of the working device for hydraulic excavators

Abstract

Robotization has become a research hotspot in the field of excavation machinery. In this paper, the excavator working device is regarded as the open-chain 4 DOF manipulator. The link coordinate system is established by D-H method, and forward kinematics from the configuration space to the joint space is analysed. Moreover, inverse kinematics and the mapping relationship between the joint space and the driving space are solved by geometric approach. The manipulator kinematics model is developed based on MATLAB Robotics Toolbox. Meanwhile, the point cloud image of the workspace for the excavator working device is plotted by the Latin hypercube sampling, and the complete working sequence for the excavator is planned and simulated. To verify the effect of trajectory planning, a multi-physics domain fusion model including the mechanical kinematics model, the hydraulic subsystem and the trajectory tracking control strategy was implemented by hybrid modeling method in MATLAB. At the same time, this work also presents a theoretical reference for the research of the motion trajectory for the excavator working device.