Publications / 2000 Proceedings of the 17th ISARC, Taipei, Taiwan
In this study, an open loop hydraulic system for controlled excavation is proposed. It is based on a kinematically induced motion of the excavator bucket. The three degrees of freedom of the latter are driven, in a unique way, by three independent hydraulic actuators. All of them are filled with the oil in such a way that, at any instant of time, their lengths define position of the bucket. A system of three force-independent valves is applied. This way the execution of desired trajectory can be performed even in cases of some variations of soil properties.