Abstract: In this paper, the numerical study of buried steel pipe in soil is investigated. Buried pipeline under soil weight, after embankment on the pipe leads to ovality of pipe. In this paper also it is considered the percentage of soil compaction, the soil height on the steel pipe and the external load of a mechanical excavator on the steel pipe and finally, the effect of these on the rate of pipe ovality investigated. Furthermore, the effect of the pipes’ thickness on ovality has been investigated. The results show that increasing the percentage of soil compaction has more effect on reducing percentage of ovality, and if the percentage of soil compaction increases, we can use the pipe with less thickness. Finally, ovality rate of the pipe and acceptance criteria of pipe diameter up to yield stress is investigated.
Abstract: Cab’s frame strength is considered as an important factor in excavator’s operator safety, especially during roll-over. In this study, we use a model of cab frame with different thicknesses and perform elastoplastic numerical analysis by using Finite Element Method (FEM). Deformation mode and energy absorption's of cab’s frame part are investigated on two conditions, with wrinkle and without wrinkle. The occurrence of wrinkle when deforming cab frame can reduce energy absorption, and among 4 parts with wrinkle, the energy absorption significantly decreases in part C. Residual stress that generated upon the bending process of part C is analyzed to confirm it possibility in increasing the energy absorption.
Abstract: In this study which has been conducted in Akçasu
Forest Range District of Devrek Forest Directorate; 3 methods (weed
control with labourer power, cover removal with Hitachi F20
Excavator, and weed control with agricultural equipment mounted on
a Ferguson 240S agriculture tractor) were utilized in weed control
efforts in regeneration of degraded oriental beech forests have been
compared. In this respect, 3 methods have been compared by
determining certain work hours and standard durations of unit areas
(1 hectare). For this purpose, evaluating the tasks made with human
and machine force from the aspects of duration, productivity and
costs, it has been aimed to determine the most productive method in
accordance with the actual ecological conditions of research field.
Within the scope of the study, the time studies have been conducted
for 3 methods used in weed control efforts. While carrying out those
studies, the performed implementations have been evaluated by
dividing them into business stages. Also, the actual data have been
used while calculating the cost accounts. In those calculations, the
latest formulas and equations which are also used in developed
countries have been utilized. The variance of analysis (ANOVA) was
used in order to determine whether there is any statistically
significant difference among obtained results, and the Duncan test
was used for grouping if there is significant difference. According to
the measurements and findings carried out within the scope of this
study, it has been found during living cover removal efforts in
regeneration efforts in demolished oriental beech forests that the
removal of weed layer in 1 hectare of field has taken 920 hours with
labourer force, 15.1 hours with excavator and 60 hours with an
equipment mounted on a tractor. On the other hand, it has been
determined that the cost of removal of living cover in unit area (1
hectare) was 3220.00 TL for labourer power, 1250 TL for excavator
and 1825 TL for equipment mounted on a tractor.
According to the obtained results, it has been found that the
utilization of excavator in weed control effort in regeneration of
degraded oriental beech regions under actual ecological conditions of
research field has been found to be more productive from both of
aspects of duration and costs. These determinations carried out
should be repeated in weed control efforts in degraded forest fields
with different ecological conditions, it is compulsory for finding the
most efficient weed control method. These findings will light the way
of technical staff of forestry directorate in determination of the most
effective and economic weed control method. Thus, the more actual
data will be used while preparing the weed control budgets, and there
will be significant contributions to national economy. Also the results of this and similar studies are very important for developing the policies for our forestry in short and long term.
Abstract: Excavators are high power machines used in the mining, agricultural and construction industry whose principal functions are digging (material removing), ground leveling and material transport operations. During the digging task there are certain unknown forces exerted by the bucket on the soil and the digging operation is repetitive in nature. Automation of the digging task can be performed by an automatically controlled excavator system, which is not only control the forces but also follow the planned digging trajectories. To develop such a controller for automated excavation, it is required to develop a dynamic model to describe the behavior of the control system during digging operation and motion of excavator with time. The presented work described a dynamic model needed for controller design and which is derived by applying Lagrange-Euler approach. The developed dynamic model is intended for further development of an automated excavation control system for light duty construction work and can be applied for heavy duty or all types of backhoe excavators.
Abstract: This paper focuses on the development of bond graph
dynamic model of the mechanical dynamics of an excavating mechanism
previously designed to be used with small tractors, which are
fabricated in the Engineering Workshops of Jomo Kenyatta University
of Agriculture and Technology. To develop a mechanical dynamics
model of the manipulator, forward recursive equations similar to
those applied in iterative Newton-Euler method were used to obtain
kinematic relationships between the time rates of joint variables
and the generalized cartesian velocities for the centroids of the
links. Representing the obtained kinematic relationships in bondgraphic
form, while considering the link weights and momenta as
the elements led to a detailed bond graph model of the manipulator.
The bond graph method was found to reduce significantly the number
of recursive computations performed on a 3 DOF manipulator for a
mechanical dynamic model to result, hence indicating that bond graph
method is more computationally efficient than the Newton-Euler
method in developing dynamic models of 3 DOF planar manipulators.
The model was verified by comparing the joint torque expressions
of a two link planar manipulator to those obtained using Newton-
Euler and Lagrangian methods as analyzed in robotic textbooks. The
expressions were found to agree indicating that the model captures
the aspects of rigid body dynamics of the manipulator. Based on
the model developed, actuator sizing and valve sizing methodologies
were developed and used to obtain the optimal sizes of the pistons
and spool valve ports respectively. It was found that using the pump
with the sized flow rate capacity, the engine of the tractor is able to
power the excavating mechanism in digging a sandy-loom soil.
Abstract: The hydraulic actuated excavator, being a non-linear
mobile machine, encounters many uncertainties. There are
uncertainties in the hydraulic system in addition to the uncertain
nature of the load. The simulation results obtained in this study show
that there is a need for intelligent control of such machines and in
particular interval type-2 fuzzy controller is most suitable for
minimizing the position error of a typical excavator-s bucket under
load variations. We consider the model parameter uncertainties such
as hydraulic fluid leakage and friction. These are uncertainties which
also depend up on the temperature and alter bulk modulus and
viscosity of the hydraulic fluid. Such uncertainties together with the
load variations cause chattering of the bucket position. The interval
type-2 fuzzy controller effectively eliminates the chattering and
manages to control the end-effecter (bucket) position with positional
error in the order of few millimeters.