小型挖掘机遥控电液执行器(T-EHA)的研制

2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA) Pub Date : 2016-09-01 DOI:10.1109/ROMA.2016.7847800

Ahmad Anas Yusof, M. A. Saadun, H. Sulaiman, S. A. Sabaruddin

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引用次数: 5

摘要

高风险和危险的灾后恢复作业需要使用重型车辆远程操作。本文研究了用于施工车辆远程操作的遥控电液执行器系统(T-EHA)，重点研究了遥控小型挖掘机的机器人系统。从T-EHA的设计、仿真和控制等方面介绍了该系统的发展现状。采用Arduino编程的无线PS2控制器作为系统的遥控器。T-EHA系统后来用于控制杠杆，该杠杆用于操纵小型挖掘机臂架的运动。在指定的信号间隔下，系统流量为0.7lpm，压力为20 bar，对T-EHA的位置控制进行仿真。整体运动与模拟输入信号相关。因此，在5米的距离上对T-EHA远程操作进行了实验室评估。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The development of tele-operated electro-hydraulic actuator (T-EHA) for mini excavator tele-operation

High risk and dangerous post disaster recovery operation requires the use of heavy vehicle tele-operation. This study deals with tele-operated electro-hydraulic actuator system or T-EHA for the operation of construction vehicle tele-operation that focuses on a robotic system to remotely control a mini excavator. The current development of the system, from design, simulation and control aspects of T-EHA is presented. A wireless PS2 controller with Arduino programming has been utilized as the remote controller for the system. The T-EHA system is later used to control a lever which is used to manipulate the movement of the mini excavator's boom. Simulation on the position control of T-EHA is conducted at a designated signal interval, with system flow rate and pressure of 0.7lpm and 20 bar respectively. The overall movement correlates with the simulated input signal. Laboratory evaluation on T-EHA tele-operation have been conducted at a distance of 5 meters, accordingly.

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2016 2nd IEEE International Symposium on Robotics and Manufacturing Automation (ROMA)

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