Voronezh, Voronezh, Russian Federation
employee
Voronezh, Voronezh, Russian Federation
employee
Voronezh, Voronezh, Russian Federation
employee from 01.01.2015 until now
Voronezh, Russian Federation
Voronezh, Voronezh, Russian Federation
employee
Gomel, Belarus
Voronezh, Russian Federation
UDK 630 Лесное хозяйство. Лесоводство
The task of increasing the efficiency of hydraulic manipulators with traditional column turning mechanisms installed on logging road trains can be solved by installing column turning mechanisms with crank hydraulic motors from hydraulic cylinders. Variants of the arrangement of hydraulic cylinders in a crank hydraulic motor were studied graph analytically by determining tangential and radial forces acting on the rotary column of the hydraulic manipulator. At first, calculations were performed based on static methods to evaluate the effect of forces on the rods of hydraulic cylinders in the working positions of the column rotation mechanism. After that, using the COMPASS computer-aided design system, circular diagrams of tangential and radial forces of the considered options for the arrangement of hydraulic cylinders in a crank hydraulic motor were constructed. Further, in the Microsoft Excel program, graphs of changes in tangential forces acting on the rotary column of the hydraulic manipulator were plotted. Schemes with five and six hydraulic cylinders have the best option of influencing the bearings in which the column is rotated. The ranges of radial forces for them ranged, respectively, from 3.32 to 22.07 kN and from 11.175 to 11.297 kN, and tangential forces – from 257.893 to 285.274 kN, and from 300.471 to 354.059 kN, which can be used in the design of new drive designs for turning columns of hydraulic manipulators. For the practical implementation of the proposed design of the crank hydraulic motor, it is planned to make a rational choice of the location of the hydraulic cylinders of the crank hydraulic motor on the frame of the logging road train on the basis of simulation modeling.
logging road train, crank hydraulic motor, manipulator, turntable, column turning mechanism, statics, double-acting hydraulic cylinder, working fluid energy recovery, hydraulic drive control
1. Komp'yuternoe modelirovanie rekuperativnogo krivoshipnogo mehanizma povorota kolonny manipulyatora lesovoznogo avtopoezda / V. I. Posmet'ev, V. O. Nikonov, V. V. Posmet'ev, V. A. Zelikov, P. V. Kolodiy // Lesotehnicheskiy zhurnal. - 2023. - T. 13, № 2(50). - S. 158-178. - Bibliogr. : s. 174-177 (21 nazv.). - DOI: https://doi.org/10.34220/issn.2222-7962/2023.2/9. - Rezhim dostupa: https://www.elibrary.ru/item.asp?id=54525090
2. Analiz raboty gidravlicheskogo manipulyatora lesnoy mashiny s ciklovoy sistemoy upravleniya / E. N. Vlasov, A. V. Sergeevichev, Yu. A. Dobrynin, V. V. Sergeevichev // Izvestiya Sankt-Peterburgskoy lesotehnicheskoy akademii. - 2022. - № 238. - S. 99-112. - Bibliogr. : s. 109-110 (10 nazv.). - DOI https://doi.org/10.21266/2079-4304.2022.238.99-112. - Rezhim dostupa: https://www.elibrary.ru/item.asp?id=48186417
3. Real-Time Anti-Saturation Flow Optimization Algorithm of the Redundant Hydraulic Manipulator / M. Cheng, L. Li, R. Ding, B. Xu // Actuators 2021, 10, 11, 19 p. - Bibliogr. : pp. 18-19 (28 titles). - DOI: https://doi.org/10.3390/act10010011
4. Tran D-T. Adaptive Backstepping Sliding Mode Control Based RBFNN for a Hydraulic Manipulator Including Actuator Dynamics / D-T. Tran, H-V-A. Truong, K. K. Ahn // Appl. Sci. 2019, 9, 1265, 25 p. - Bibliogr. : pp. 24-25 (34 titles). - DOI: https://doi.org/10.3390/app9061265
5. Tele-Operated Bilateral Control of Hydraulic Manipulator Using a Robust Controller Based on the Sensorless Estimated Reaction Force / K. D. Kallu, S. J. Abbasi, H. Khan, J. Wang, M. C. Lee // Appl. Sci. 2019, 9, 1995, 23 p. - Bibliogr. : pp. 21-23 (45 titles). - DOI: https://doi.org/10.3390/app9101995
6. Adaptive Fuzzy Backstepping Sliding Mode Control for a 3-DOF Hydraulic Manipulator with Nonlinear Disturbance Observer for Large Payload Variation / H. V. A. Truong, D. T. Tran, X. D. To, K. K. Ahn, M. Jin // Appl. Sci. 2019, 9, 3290, 29 p. - Bibliogr. : pp. 27-29 (52 titles). - DOI: https://doi.org/10.3390/app9163290
7. Truong H. V. A. Safety Operation of n-DOF Serial Hydraulic Manipulator in Constrained Motion with Consideration of Contact-Loss Fault / H. V. A. Truong, H. A. Trinh, K. K. Ahn // Appl. Sci. 2020, 10, 8107, 22 p. - Bibliogr. : pp. 19-22 (51 titles). - DOI: https://doi.org/10.3390/app10228107
8. Learning from Demonstration for Hydraulic Manipulators / M. Suomalainen, J. Koivumaki, S. Lampinen, V. Kyrki1, J. Mattila // 2018 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018, pp. 3579-3586. - Bibliogr. : pp. 3586 (34 titles). - DOI: https://doi.org/10.1109/IROS.2018.8594285
9. A Teleoperation Framework Based on Heterogeneous Matching for Hydraulic Manipulator / S. Zhou, C. Shen, S. Zhu, W. Li, Y. Nie, Z. Chen // Machines 2022, 10, 536, 15 p. - Bibliogr. : pp. 14-15 (30 titles). - DOI: https://doi.org/10.3390/machines10070536
10. Nurmi J. Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators : Experimental Results for a Forestry Manipulator / J. Nurmi, J. Mattila // Energies 2017, 10(5), 647. - Bibliogr. : pp. 30-31 (44 titles). - DOI: https://doi.org/10.3390/en10050647
11. Zhou H. A practical method for the deformation of long-stroke hydraulic manipulators in grasping-handling tasks / H. Zhou, X. Zhang, J. Liu // J Field Robotics. 2023, pp. 1-17. - Bibliogr. : pp. 16-117 (35 titles). - DOI: https://doi.org/10.1002/rob.22160
12. Adaptive Dynamic Programming-Based Cross-Scale Control of a Hydraulic-Driven Flexible Robotic Manipulator / X. Wei, J. Ye, J. Xu, Z. Tang // Appl. Sci. 2023, 13, 2890, 27 p. - Bibliogr. : pp. 25-27 (37 titles). - DOI: https://doi.org/10.3390/app13052890
13. Autonomous Control of Redundant Hydraulic Manipulator Using Reinforcement Learning with Action Feedback / R. Dhakate, C. Brommer, C. Bohm, H. Gietler, S. Weiss, J. Steinbrener // 2022 IEEE / RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 7036-7043. - Bibliogr. : pp. 7043 (20 titles). - DOI: https://doi.org/10.1109/IROS47612.2022.9981425
14. Kim M. Real-Time Simulator of a Six Degree-of-Freedom Hydraulic Manipulator for Pipe-Cutting Applications / M. Kim, S.-U. Lee, S.-S. Kim // IEEE Access, vol. 9, pp. 153371-153381, 2021, 11 p. - Bibliogr. : pp. 10-11 (32 titles). - DOI: https://doi.org/10.1109/ACCESS.2021.3127502
15. P. Li Research on the electro-hydraulic servo system of picking manipulator / P. Li, Y. Li // AIP Advances 13, 015312 (2023), 13 p. - Bibliogr. : pp. 13 (20 titles). - DOI: https://doi.org/10.1063/5.0130344
16. Oscillating method for monitoring the technical condition of the hydraulic cylinders of manipulator machines / A. I. Pavlov, A. A. Tarbeev, A. V. Egorov, I. A. Polyanin, S. Ya. Alibekov, A. V. Lysyannikov, Yu. F. Kaizer, T. Y. Matkerimov // Journal of Physics : Conference Series 1515 042053 (2020). - 7 p. - Bibliogr. : pp. 6-7 (20 titles). - DOI: https://doi.org/10.1088/1742-6596/1515/4/042053
17. Energy efficiency improvement of heavy-load mobile hydraulic manipulator with electronically tunable operating modes / R. Ding, J. Zhang, B. Xub, M. Cheng, M. Pan // Energy Conversion and Management 188 (2019), pp. 447-461. - Bibliogr. : pp. 460-461 (31 titles). - DOI: https://doi.org/10.1016/j.enconman.2019.03.023
18. Perspektivnaya konstrukciya polnopovorotnogo mehanizma kolonny gidravlicheskogo manipulyatora lesovoznogo avtomobilya / V. I. Posmet'ev, V. O. Nikonov, V. V. Posmet'ev, A. A. Mihaylov // Materialy Vserossiyskoy nauchno-prakticheskoy konferencii Sovremennyy lesnoy kompleks strany : problemy i trendy razvitiya ; otv. redaktor A. A. Platonov. - Voronezh, 2022. - S. 57-61. - Bibliogr.: s. 60-61 (6 nazv.). - DOI: http://doi.org/10.58168/MFCCPTD2022_57-61. - Rezhim dostupa: https://www.elibrary.ru/item.asp?id=49911437
19. O perspektivnosti ispol'zovaniya gidrocilindrov v povorotnom mehanizme kolonny gidravlicheskogo manipulyatora lesovoznogo avtopoezda / V. I. Posmet'ev, V. O. Nikonov, A. A. Mihaylov, I. O. Hrapov // Innovacii v avtomobil'nom transporte : materialy Vserossiyskoy nauchno-tehnicheskoy konferencii, Voronezh, 19-20 maya 2022 goda. - Voronezh : Voronezhskiy gosudarstvennyy lesotehnicheskiy universitet im. G.F. Morozova, 2022. - S. 4-9. - Bibliogr. : s. 9 (7 nazv.). - DOI: http://doi.org/10.34220/IRT2022_4-9. - Rezhim dostupa: https://www.elibrary.ru/item.asp?id=48696631
20. Posmet'ev, V. I. O vliyanii tradicionnyh konstrukciy gidromanipulyatorov na effektivnost' lesovoznogo avtomobil'nogo transporta / V. I. Posmet'ev, V. O. Nikonov // Materialy Vserossiyskoy nauchno-tehnicheskoy konferencii «Problemy ekspluatacii avtomobil'nogo transporta i puti ih resheniya na osnove perspektivnyh tehnologiy i nauchno-tehnicheskih resheniy», 2022. - S. 24-31. - Bibliogr. : s. 30-31 (9 nazv.). - DOI: http://doi.org/10.58168/PRTOW2022_24-31. - Rezhim dostupa: https://www.elibrary.ru/item.asp?id=49783991
