MATHEMATICAL DYNAMIC MODEL OF MANIPULATORS OF MULTI-OPERATIONAL FORESTRY MACHINES

UDC 630*36:621.9

Golyakevich Sergey Alexsandrovich – PhD (Engineering), Assistant Professor, the Department of Logging Machinery, Forest Roads and Timber Production Technology. Belarusian State Technological University (13a, Sverdlova str., 220006, Minsk, Republic of Belarus). E-mail: gsa@belstu.by

Goronovsky Andrey Romanovich – PhD (Engineering), Assistant Professor, the Department of Logging Machinery, Forest Roads and Timber Production Technology. Belarusian State Technological University (13a, Sverdlova str., 220006, Minsk, Republic of Belarus). E-mail: arg@belstu.by

DOI: https://doi.org/ 10.52065/2519-402X-2024-276-18.

Key words: manipulator, dynamics, methodology, efficiency, technology, resource, energy consumption, modeling, harvester, forwarder.

For citation: Golyakevich S. A., Goronovsky A. R. Mathematical dynamic model of manipulators of multi-operational forestry machines. Proceedings of BSTU, issue 1, Forestry. Nature Management. Processing of Renewable Resources, 2024, no. 1 (276), pp. 132–143 (In Russian). DOI: 10.52065/2519-402X-2024-276-18.

Abstract

The article provides a brief analysis of research in the field of modeling the dynamics of manipulators of forestry machines. It has been established that existing models do not fully meet the requirements for the formation of a holistic methodology for predicting the efficiency of machines in given technological processes and operating conditions. The author’s mathematical model of a combined articulated-lever manipulator with a telescopic link is proposed. The model consists of a diagram and mathematical descriptions of the kinematics and dynamics of the manipulator links, driving devices (hydraulic cylinders), and hydraulic drive. The model takes into account the logic of operation of individual elements of power hydraulic drives. The model is customizable to obtain data on the operation of the manipulator when performing the entire complex of forestry operations. It provides data on the time of completion of the operation, energy costs for the drive of each individual link of the manipulator during their separate and joint operation, as well as data on the power factors acting in individual links of the metal structure of the manipulator and the actuators of the power drive. The method of implementing the model in the form of an explicit representation of the Lagrange equations of the 2nd kind made it possible to make the model extensible with the possibility of its integration into the general model of a multi-operational logging machine. Data obtained using the model are used to predict the efficiency of complexes of multi-operational forestry machines.

Download

References

  1. Bartenev I. M., Emtyl’ Z. K., Tatarenko A. P., Drapalyuk M. V., Popikov P. I., Bukhtoyarov L. D. Gidromanipulyatory i lesnoye tekhnologicheskoye oborudovaniye [Hydraulic manipulators and forestry technological equipment]. Moscow, Flinta Publ., Nauka Publ., 2011. 408 p. (In Russian).
  2. Mettin U., Miranda La Hera P. X. Modelling and Control Design for a Hydraulic Forestry Crane. Umeå, Sweden, Umeå University, 2005. 37 p.
  3. Heinze A. Modelling, simulation and control of a hydraulic crane. Växjö, Institutionen for Teknik och desing, 2007. 137 p.
  4. Chu Y., Espy V., Zhang H., Bunes O. Modelling and Simulation of an Offshore Hydraulic Crane // 28th European Conference on Modelling and Simulation, May 2014. DOI: 10.7148/2014-0087.
  5. Szabolcs F. Towards Semi-Automation of Forestry Cranes. Automated Trajectory Planning and Active Vibration Damping. Umeå, Sweden, Umeå University, 2017. 101 p.
  6. Zhukov A. V. Teoreticheskiye osnovy vybora tekhnicheskikh parametrov i uluchsheniya ekspluatatsionnykh svoystv spetsial’nykh lesnykh mashin. Dissertatsiya doktora tekhnicheskikh nauk [Theoretical bases of a choice of technical parameters and improvement of operational properties of special forest machines. Dissertation DSc (Engineering)]. Leningrad, 1987. 315 p. (In Russian).
  7. Golyakevich S. A., Goronovsky A. R. Osnovy proyektirovaniya lesnykh mashin i sistemy avtomatizirovannogo proyektirovaniya [Fundamentals of forestry machine design and computer-aided design systems]. Minsk, BSTU Publ., 2015. 139 p. (In Russian).
  8. Forvarder Amkodor 2661-01. Operating manual 2661.00.000-A RE. Available at: https://amkodor.by/ services/ekspluatatsionnaya-dokumentatsiya/2661-01-А_РЭ.pdf (accessed 15.09.2023) (In Russian).
  9. Drive and Control Systems for Forestry Machines. From the Gear Pump to Electronic Harvester Management. Available at: http://www.boschrexroth.com/country_units/america/united_states/ sub_websites/brus_brh_m/en/Documentation_and_Resources/9_brochures_and_catalogs/a_downloads/re98057.pdf (accessed 03.10.2023).
  10. Lögren B. Kinematic Control of Redundant Knuckle Booms with Automatic Path Fllowing Functions. Available at: http://kth.diva-portal.org/smash/record.jsf?pid=diva2:277303 (accessed 03.10.2023).
  11. Wang J., Dale Greene W. An Interactive Simulation System for Modeling Stands, Harvests, and Machines. Journale of Forest Engineering, 1999, vol. 10, no. 1, pp. 81–99.
  12. Hesse K. Components and systems for tractor, stacker and combine. Bosch Rexroth Mobile Training. February 2003, pp. 18–20.
  13. Drive and Control Systems for Combine Harvesters and Forage Harvesters. Bosch Rexroth AG. – 2001. RE 98071. Available at: https://airlinemedia.airlinehyd.com/Literature/Manufacturer_Catalogs/ Bosch%20Rexroth/DriveControlSystems_Combine_ForageHarvestors-re98071_2001-11.pdf (accessed 19.09.2023).
  14. Load Sensing Systems. Principle of Operation. Eaton Corporation, no. 03-206, 1992. 28 p. Available at: https://dokumen.tips/documents/eaton-load-sensing-systems-principle-of-operationpdf.html (accessed 19.09.2023).
  15. Golyakevich S. A., Goronovsky A. R., Mokhov S. P. Methodology for assessing technical characteristics of forwarders at the design stage Trudy BGTU [Proceedings of BSTU], 2016, no. 2 (184): Forest and Woodworking Indystry, pp. 15–19 (In Russian).

18.10.2023