Optimization of the Motion Algorithm and Reduction of the External Dynamic Load of the Machinery Actuator in Translational and Rotational Modes

This article deals with the theoretical preconditions for creating a high-performance, universal earthmoving vehicle with continuous motion that can create long grooves of different depths and widths in the soil using a single actuator. For this purpose, a new symmetrical rotor actuator was developed, which operates in translational and rotational modes due to the two-level actuator with a double-swivel mounting on the base chassis, instead of the traditional single-swivel mounting. Its use eliminates the possibility of leveling the thickness of the shavings when digging the soil. The rotor-actuator-movement algorithm at the front part was developed from a combination of vehicle movement and cyclic-lateral-actuator movement. In real practice, this means digging up the soil with even shavings. The implementation of the developed algorithm in the physical model of the symmetrical actuator confirmed the possibility of balancing the thickness of the shavings, which are cut by the rotor buckets with up to 10% accuracy. The difference between the results in determining the thickness of the shavings analytically and experimentally is 12% with a confidence interval of 0.95

Optimization of the Motion Algorithm and Reduction of the External Dynamic Load of the Machinery Actuator in Translational and Rotational Modes

This article deals with the theoretical preconditions for creating a high-performance, universal earthmoving vehicle with continuous motion that can create long grooves of different depths and widths in the soil using a single actuator. For this purpose, a new symmetrical rotor actuator was developed, which operates in translational and rotational modes due to the two-level actuator with a double-swivel mounting on the base chassis, instead of the traditional single-swivel mounting. Its use eliminates the possibility of leveling the thickness of the shavings when digging the soil. The rotor-actuator-movement algorithm at the front part was developed from a combination of vehicle movement and cyclic-lateral-actuator movement. In real practice, this means digging up the soil with even shavings. The implementation of the developed algorithm in the physical model of the symmetrical actuator confirmed the possibility of balancing the thickness of the shavings, which are cut by the rotor buckets with up to 10% accuracy. The difference between the results in determining the thickness of the shavings analytically and experimentally is 12% with a confidence interval of 0.95

Determination of Continuous Earthmoving Machinery Course Stability under the Conditions of Cyclic Lateral Loading

This article presents the results of complex theoretical and experimental studies on creating universal continuous earthmoving machinery operating under non-standard loading conditions, namely, cyclic lateral loading on the actuator during digging. The lateral loading is due to the complex nature of the actuator motion when digging the soil, namely, the longitudinal motion of the machinery, the actuator digging the soil, and the lateral reciprocating motion of the actuator. This allows for variable width excavations in the soil, whose width exceeds the width of the actuator. The key issue of this machinery operation is to provide its course stability. The article considers the choice of soil-developing actuator and shows the developed calculation schemes of external loading on the operating equipment and a base tractor when digging long excavations in the soil. The dependencies to define external forces acting on the actuator when digging the soil and determining the machinery course stability, considering their spatial nature, have been developed and suggested for practical use. The conditions to ensure the stability of the course of universal earthmoving machinery have been formulated and substantiated. The developed method for determining course stability can be used when creating industrial samples of trenching earthmoving machinery