Track loader kinematics

We study the problem to teleoperate a Caterpillar 973c track loader. The track loader and a system for teleoperation are described. A tested and working kinematic model used for dead reckoning is also presented. Track speed sensors combined with a rate gyro are used as input to the model. The model shows good results when tested and compared to a GPS navigation system.Godkänd; 2010; 20100812 (hf)Optimerad framkomlighet för tunga terrängfordo

Projekt: Optimerad framkomlighet för tunga terrängfordon

This project is aimed at improving traction control characteristics for wheel loaders and haulers. At present, drivers of these machines can choose between open or closed differentials but often they prefer to lock the differentials, thus distributing the torque equally between the wheels and thereby almost always avoiding wheel slip. However, locked differentials cause increased wear of the driveline, increased fuel consumption and greater tyre wear. Therefore it is worthwhile to investigate other solutions such as limited slip differentials or differentials with a clutch where the torque is distributed as necessary among the driving wheels.Publikationer: Traction Control for Articulated Off-road Vehicles; Gyro feedback of a hydraulic steering system; Track loader kinematics; Estimation of side-slip angles of a Volvo A25E articulated all-wheel drive hauler based on GPS/INS measurements; Status: Ended; Period: 01/09/2009 → 31/07/2013</p

Projekt: Optimerad framkomlighet för tunga terrängfordon

This project is aimed at improving traction control characteristics for wheel loaders and haulers. At present, drivers of these machines can choose between open or closed differentials but often they prefer to lock the differentials, thus distributing the torque equally between the wheels and thereby almost always avoiding wheel slip. However, locked differentials cause increased wear of the driveline, increased fuel consumption and greater tyre wear. Therefore it is worthwhile to investigate other solutions such as limited slip differentials or differentials with a clutch where the torque is distributed as necessary among the driving wheels.Publikationer: Traction Control for Articulated Off-road Vehicles; Gyro feedback of a hydraulic steering system; Track loader kinematics; Estimation of side-slip angles of a Volvo A25E articulated all-wheel drive hauler based on GPS/INS measurements; Status: Ended; Period: 01/09/2009 → 31/07/2013</p