Publications / 2003 Proceedings of the 20th ISARC, Eindhoven, Holland

Grab Bucet with Straight Linear Progressive Movement of Jaws

Thomas Bock, Alexander Drovnikov, Vladimir Bogdanov, Irina Bulgakova
Pages 131-134 (2003 Proceedings of the 20th ISARC, Eindhoven, Holland, ISBN 978-90-6814-574-8, ISSN 2413-5844)

Special rowing up grab buckets are used in construction for performing clearing, loading and unloading functions; when mining thin layers of soil and basic materials. The efficiency of grab buckets with large opening of the jaws can be sufficiently increased by providing straight linear progressive movement of the jaws when the angle of shearing doesn't change. The constructed control algorithms allow to detour the obstacles, move in straight and curve trajectories with the specified speed, to decrease the rate of construction’s movement, to perform orientation of construction and provide its smooth installation into the projective position.

Keywords: excavating machines, construction, grab working, kinematic scheme, control algorithms, visual sensor, mobile robots, planning of the robot’s movement, kinematics