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MOTION TRAJECTORY STUDY IN THE SCOOPING OPERATION OF AN LHD-LOADER

IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS 1994年第5期30卷 1333-1338页

作者： HEMAMI, A Canadian Centre for Automation and Robotics in Mining Ecole Polytechnique de Montreal Montreal QUE Canada

mining operations have great potential for automation, from worker safety viewpoint as well as productivity and efficiency. Among the operations that can be automated are loading, guiding, and unloading of LHD-loaders. This paper concerns automatic loading of these units, based on modeling a loader as a robot manipulator. For this purpose, analysis of the forces concerned in the process of scooping, and information about the kinematics of motion become essential. This work is about the trajectory of motion during scooping. Based on the results of a preliminary study on the nature of the forces involved, and bearing in mind the preference for simplicity in the control action, an easy to follow trajectory is determined for the cutting edge of the bucket of a loader, which is regarded as the end-effector in a robot manipulator. The way to find a minimum energy consuming trajectory for each individual bucket and for a particular material to be loaded is discussed. Since following this trajectory is more efficient it can be used for faster execution of bucket loading, if desired.

关键词： control action automatic loading buckets Force Scoops UNLOADING automation Robot Manipulator MACHINE LOADING chamfered edge trajectory Surgery

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Resistance of particulate media to excavation: Application to bucket loading

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International Journal of Surface mining, Reclamation and Environment 1994年第3期8卷 125-129页

作者： Hemami, A. Goulet, S. Aubertin, M. Canadian Centre for Automation and Robotics in Mining Ecole Polytechnique Montreal Quebec Canada Department of Mineral Engineering Ecole Polytechnique Montreal Quebec Canada

In excavation of particulate media the resistive force for cutting through, or digging, must be overcome by the cutting tool. A knowledge about this force is essential for designing the cutting tools and the excavating machinery. Such a knowledge becomes quite important, also, for automating the operation of these machines, which has recently gained a great deal of interest among construction and mining industries. It may be used for feedback purposes in order to monitor and adjust the motion of the excavating tool. In this article the excavation force on a loader bucket during loading is considered. After a preliminary analysis of the various components of this force, its variation in the course of a desired motion of the bucket is determined and is graphically illustrated. © 1994, Taylor & Francis Group, LLC. All rights reserved.

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Modelling, analysis and preliminary studies for automatic scooping

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Advanced robotics 1993年第5期8卷 511-529页

作者： Hemami, Ahmad Canadian Centre for Automation and Robotics in Mining Quebec H3C 3A7 Ecole Polytechnique de Montreal P.O. Box 6079 Station A Montreal Canada

This paper introduces a fundamental step of process analysis and modelling for the scooping and loading function of a loader type excavating machine, which is considered as a robot manipulator. For many applications, such as remote excavation and loading/unloading of unpacked material with a mechanical loader and, on a smaller scale, scooping the food from a plate by an automatic patient feeder, it becomes necessary to analyze the motion and the forces involved in order to be able to automatically perform such a function. The paper discusses the mathematical approach for the model, the forces that are involved and their variation during scooping, and the most appropriate trajectory for the motion of the loading bucket. © 1993 Taylor & Francis Group, LLC.

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Modelling, analysis and preliminary studies for automatic scooping/loading in a mechanical loader

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International Journal of Surface mining, Reclamation and Environment 1992年第4期6卷 151-159页

作者： Hemami, Ahmad Canadian Centre for Automation and Robotics in Mining Ecole Polytechnique Montreal Quebec Canada

A fundamental step of process analysis and modelling for the scooping and loading function of a loader type excavating machine is carried out. This is a part of the essential work towards automation of such a machine. Emphasis is given here to Load-Haul-Dump mining machines, frequently used in underground mining operations. However, for many other applications, such as remote excavating and contaminated soil removing with a loader type excavator, the same theory applies and the same sort of experimental work becomes necessary. In this work the loading gear is first modelled as a mechanical manipulator, then the nature of the involved resisting forces, that also depend on the properties of the material to be loaded, and the fact that some knowledge about these stochastic forces is required, is pointed out. The paper, moreover, presents a discussion about the more appropriate trajectory of motion of the loader bucket. © 1992, Taylor & Francis Group, LLC. All rights reserved.

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