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发表时间：2022-10-09

发表刊物：大连理工大学学报

所属单位：机械工程学院

卷号：58

期号：3

页面范围：246-253

ISSN号：1000-8608

摘要：In order to realize the intelligent excavation and the automatic traj ectory control of the excavator,an energy minimization based optimization method for the excavating traj ectory of the excavator is proposed.The excavating resistance acting on the dipper while excavating the materials is studied.Besides,the gravity of the ore,the friction between the dipper and ore,the relative excavating speeds and the flanks of the dipper are all taken into account to establish a new dynamic prediction model for the excavating resistance of big miner excavator.By the newly built prediction model of the excavating resistance and taking different pile angles into account,the energy minimization based traj ectory optimization model is built.This optimization takes both the structure and performance into consideration by setting the obj ective function to minimize the energy consumption per unit mass of the whole excavating process.WK-5 5 excavator is selected as a case study and the optimal excavating parameters with respect to different pile angles are obtained.Results show that the optimal excavating parameters can be always obtained to ensure the energy-minimum excavation by meeting the requirement of the excavating efficiency under different pile angles,which provides theoretical reference for the research and development of intelligent excavators.

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