Tip-Over Stability of Manipulator-Like Mobile Hydraulic Machines

[+] Author and Article Information
R. F. Abo-Shanab

N. Sepehri1

Department of Mechanical and Industrial Engineering,  The University of Manitoba, Manitoba, Canada R3T 5V6nariman@cc.umanitoba.ca


Corresponding author.

J. Dyn. Sys., Meas., Control 127(2), 295-301 (Jun 01, 2004) (7 pages) doi:10.1115/1.1898239 History: Received February 19, 2003; Revised June 01, 2004

This paper describes the development of a simulation model for studying the tip-over stability of a typical heavy-duty hydraulic log-loader machine. The model takes into account the dynamics of (i) the base that can potentially rock back and forth, (ii) the combined vehicle suspension and ground/tire compliance, (iii) the friction between the tires and the ground, and (iv) the hydraulic actuators’ functions. The results demonstrate the effects of the manipulator movements, the flexibility of the contact between the base and the ground, the hydraulic compliance, and the friction properties between the wheels and the ground, on the stability of the machine. Particularly, it is shown that the flexibility of the contact between the base and the ground reduces the machine stability, whereas the flexibility at the manipulator joints due the hydraulic compliance improves the machine stability.

Copyright © 2005 by American Society of Mechanical Engineers
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Figure 1

Typical excavator-based log-loader

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Figure 2

Schematic diagram of base including suspension and friction forces

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Figure 3

Top view of log-loader

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Figure 4

3D presentation of the base with the virtual links

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Figure 5

Denavit-Hartenberg link coordinates

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Figure 6

Swivel of manipulator

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Figure 7

Rotation of the base with various speeds of swing motion

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Figure 8

Base rotation during the manipulator motion

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Figure 9

Base rotation during the manipulator recovery motion

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Figure 10

Effect of increasing suspension stiffness on machine stability k1=17.5×105N∕m

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Figure 11

Effect of increasing suspension damping on machine stability c1=7×104Ns∕m

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Figure 12

Effect of hydraulic compliance on machine stability BI=120×103psi

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Figure 13

Base movement (skid and rotation) using LuGre model with different friction coefficient values: high friction: μs=0.9, μd=0.5; medium friction: μs=0.05, μd=0.03; low friction: μs=0.02, μd=0.012.



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