Dual arm work machine that consists of hydraulic excavator is expected for transportation of long objects such as steel stocks and destruction of concrete walls by cooperating dual arm. However, cooperation of two or more arms generates overload in a work object and arms. Because the arms form closed-loop through the work object, refuge of internal force disappears. In this paper, a nondestructive dual manipulation technique for reducing working load is designed using indirect force control that applies in a part of one arm. Operator's positioning accuracy in transportation of long object is measured by a front structure of the hydraulic excavator. From the results, permissible positioning error in nondestructive dual manipulation is clarified. Moreover, load of working object is reduced by indirect force control by using hydraulic circuit with accumulator. Target mechanical impedance is maintained by combining hydraulic circuit with adaptive control in hydraulic system that changes the load characteristic while working. Transportation work experiment of long object is conducted by using the lifter that corresponds to positioning control manipulator and the hydraulic excavator that applies the force control system. Working load has decreased to 20% of maximum working load of the front structure of the construction machinery. Usable range of nondestructive manipulation is clarified by a chart that shows relations between expected load decrease and target mechanical impedance characteristic decided with the work object. Therefore, nondestructive dual arm manipulation of the construction machinery can be achieved by using the mechanical impedance adjustment with combination of the hydraulic circuit and the adaptive control.
|ジャーナル||Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C|
|出版ステータス||Published - 2011|
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