A CRITICAL REVIEW ON KINEMATICS OF 188 Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015 A CRITICAL REVIEW ON KINEMATICS OF HYDRAULIC EXCAVATOR BACKHOE ATTACHMENT Dhaval

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Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015

A CRITICAL REVIEW ON KINEMATICS OF

HYDRAULIC EXCAVATOR BACKHOE ATTACHMENT

Dhaval Kumar A Patel1, Bhavesh P Patel1 and Mehul Kumar A Patel1*

*Corresponding Author: Mehul Kumar A Patel, � [email protected]

The Hydraulic excavator machines are heavy duty earth mover consisting of a boom, arm andbucket. It works on principle of hydraulic fluid with hydraulic cylinder and hydraulic motors. TheHydraulic excavator backhoe operation require coordinated movement of boom, arm and bucketto control the bucket tip position by following a desired trajectory and to use the excavatormachines effectively in the dark, sever weather, worst working condition, hazardous or unhealthyenvironment and dirty areas this can be achieved only through the automatic control of thehydraulic excavator machine. Controlling of hydraulic excavator machine is possible if thekinematics and dynamics of the excavator machine are understood. To achieve this goal differentreviews related to kinematics of excavator machine are discussed in this paper which is helpfulto doing the kinematic modelling of the excavator machine. Kinematic modelling is helpful forunderstanding behavior and improving the operating performance of the hydraulic excavatormachine.

Keywords: Backhoe, Kinematics, Digging, Excavator

INTRODUCTION

The Backhoe excavator can be used forconstruction of building foundation,construction of highway, gardening work,forestry work, to dig holes, material handling,light duty demolition work, urban works, riverdredging, also in hazardous environment.Backhoe excavators are used primarily toexcavate below the natural surface of theground on which the machine rests. According

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Int. J. Mech. Eng. & Rob. Res. 2015

1 Assistant Professor, Mechanical Engineering Department, U. V. Patel College of Engineering, Ganpat University, Kherva - 384012,Mehsana Dt., Gujarat, India.

Research Paper

to Forestry, Earthmoving and ExcavatorStatistics Program (FEE Statistics Committee,2010), a backhoe excavator is defined as “Aride-on dual purpose self-propelled wheeledmachine for on and off road operation”. Oneend with loader arms that can support a fullwidth bucket or attachment and the other endincorporating a boom and arm combinationcapable of swinging half circle for the purposeof digging or attachment manipulation.

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In other words, a backhoe excavator isactually three pieces of construction equipmentcombined into one unit. These three piecesare a tractor, a loader, and a backhoe as shownin Figure 1. The third piece of the equipment abackhoe also known as a backhoe excavatorattachment is the area of research reported inthis paper. A backhoe is the main tool of thebackhoe excavator. It consists of a diggingbucket on the end of a two part articulated arm(Figure 1).

Figure 1: A backhoe Excavator

Figure 2: A Backhoe Mechanism

Backhoe excavator attachment is fourdegrees of freedom system because each ofthe four links (swing link, boom link, arm linkand bucket link) are allowed to be rotated withtheir respective joint axes only. Backhoeconsist four different mechanisms each ofwhich can be controlled independently (Figure2). The first mechanism is for the swing motionof the swing link relative to the fixed or baselink and can be actuated by swing cylinders.The second mechanism is for the rotation ofthe boom which is actuated by boom cylinderthus forming an inverted slider-crankmechanism relative to the frame. The thirdmechanism is for the rotational motion of anarm which is actuated by arm cylinder and isalso an inverted slider-crank mechanism. Thefourth mechanism is for the rotational motion

of the bucket which is actuated by bucketcylinder. Since a large bucket oscillation isrequired, the mechanism used is a seriescombination of a four bar mechanism, and aninverted slider-crank mechanism, which formsa six link mechanism relative to the arm asshown in Figure 2. Apart from this, the boomassists only in positioning the bucket and thearm for the digging operation, it does notdirectly contribute in digging operation. On theother hand, the arm and the bucket directlycontribute in the digging operation bygenerating the required digging forces with thehelp of the hydraulic actuators (Patel, 2013).

PROBLEM DEFINITION

The basic problem in the study of mechanicallink mechanism is of finding out the positionand orientation of bucket of the backhoeattachment when the joint angles are known,which is referred to as forward kinematics andfor any given position and orientation of bucketfinding out all possible sets of joint angleswhich is referred to as inverse kinematics. Theproblem of link mechanism control requiresboth the forward and inverse kinematic modelsof the backhoe attachment of the hydraulicexcavator (Mittal and Nagrath, 2008). Thekinematic modelling helpful to follow the

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defined trajectory as well as digging operationcan be carried out successfully at requiredlocation of the terrain using proper positioningand orientation of the bucket and ultimatelydigging task can be automated. Here the thirdsection highlights the research work carriedout by the researchers in the field of kinematicmodelling, which is helpful to understand andimproving the operating performance of thebackhoe attachment of hydraulic excavator.

Figure 3: Kinematic Modellingof Excavator

KINEMATIC MODELLING

Dongnam Kim et. al. (2008) and Le Duc Hanhet. al. (2009) have done kinematics ofexcavator. They have done forward and inverse

kinematics. Among this they have doneinverse kinematics for two degree of freedomby considering boom and arm link. Figure 4shows 2-DOF mini electro hydraulic excavator,Medanic et. al. (1997) have derived excavatorkinematic relation by considering two link onlyboom link and arm link (Dongnam Kim et al.,2008; Le Duc Hanh et al., 2009; Medanic etal., 1997).

Figure 4: Two-DOF Mini Electro-hydraulic Excavator

Figure 5: Two Link Excavator

Bodur et al. (1994) have control thecognitive force for the automation of the landexcavation is developed to include thekinematics of the excavator arm. Duringdigging at a certain point on the excavationtrajectory both the crawler and the rotationalsuper-structure bodies are stationary, and thusthe kinematic model is reduced to 3 degreeof freedom. Kinematic solution of the arm isaccomplished in the form of homogeneoustransformation matrix by using Denavit-Hartenberg (D-H) notation. The coordinateframe assignment for excavator shown inFigure 6, and Daqing Zhang et. al. (2005) havederived the full kinematic model of theexcavator arm regarded as a planarmanipulator with three degrees of freedom(consider boom, arm and bucket) as shown in

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Figure 7. To find a feasible way to controlexcavator arm and realize autonomousexcavation. The exponential product formulabased on screw theory is used to develop thekinematic model of manipulator to get thedesired trajectory. The experimental resultexhibits good tracking performance for boomcylinder under the controller developed. Thepeak error is less than 4 degrees. Howevertrajectory generation was not demonstrated,and Michael G Lipsett (2009) has described

Figure 6: Moving Items of TypicalBackhoe and Coordinate Frame

Assignment

Figure 7: Kinematic Model for WorkingMechanism of Hydraulic Excavator

a simple framework for assessing differentshovel designs, including kinematicperformance of face shovels for surface miningexcavation. Key design considerations for anexcavating shovel to meet the performance

and reliability specifications are basedprimarily on kinematics. The RH 400Kinematics shown in Figure 8. The Terex O&KRH 400 is analyzed as a case study reachableworkspace, mobility during digging andachievable cutting forces are presented withsome simplifying assumptions for thedynamics of the machine. Methods fordetermining the parameters of the models arediscussed,Hongnian Yu et. al. (2010), QuangHoan Le et. al. (2012) and Le Quang Hoan etal. have described forward and inversekinematics of excavator by considering threedegree of freedom (consider boom, arm andbucket) for controlling purpose, Schematicdiagram of an excavator shown in Figure 9 andProjection of the excavator links onto thevertical plane shown in Figure 10, Bundy andGutkowski have described only forwardkinematics of excavator for three degree offreedom system (consider boom, arm andbucket) for trajectory generation,Juma YousufAlaydi has described excavator Forwardkinematics using Kane method by consideringthree degree of freedom system. Here allresearcher done kinematics of excavator forthree degree of freedom system byconsidering boom, arm and bucket link only

Figure 8: RH 400 Kinematics

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still there is scope to develop kinematics ofexcavator for four degree of freedom systemby considering swing, boom, arm and bucketlink (Bodur et al., 1994; Daqing Zhang, et al.,2005; Michael G Lipsett, 2009; Hongnian Yuet al., 2010; Quang Hoan Le et al., 2012; Le

Figure 9: Schematic Diagramof an Excavator

Figure 10: Projection of ExcavatorLink on to Vertical Plane

Quang Hoan et al., Bundy and Gutkowsk; andJuma Yousuf Alaydi).

Vaha and Skibniewski (1993) have firstlydeveloped kinematics of the excavator byappropriate frame assignments. To describethe position of the points on the mechanism of

Figure 11: Typical Excavatorand Its Coordinate Frames

an excavator coordinate systems are firstdefined as shown in Figure 11.

Vaha developed this kinematic model onlyas a prerequisite for the dynamic model. Hedeveloped the kinematic model for a hydraulicexcavator in the general form only, thus givingup to the general transformation matrix relatingtwo consecutive frames (relating frame [i-1] tothe frame [i]) as follows:

cos cos sin sin sin cos

sin cos sin sin sin cos2 0 sin cos

0 0 0 1

i i i i i i i

i i i i i i i iAi di i i

θ α θ α θ α θθ α θ α θ α θ

α α

−

−−

⎡ ⎤⎢ ⎥⎢ ⎥⎢ ⎥⎢ ⎥⎣ ⎦

where, ai is the link length, α

i is the link twist

angle, θi is the joint angle, and di is the jointdistance. His kinematic model was not enough,and thus not giving a clear insight in terms ofthe forward kinematic and inverse kinematicequations. The kinematic model of anexcavator presented here provides a usefulcomputation platform for investigating themachine behavior of a typical excavator.Hofstra et al. (2000) have described the

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kinematics of the backhoe of Komatsu H245Swith a 12 m boom and 8.5 m stick. Thiskinematics of backhoe utilized by them for thedevelopment of dynamic model. They havedetermined the relation between the machineorientation and the desired trajectory. In orderto do this effectively while describing theposition and orientation of the bucket theDenavit-Hartenberg (DH) approach based onhomogenous co-ordinates is utilized, howeverinverse kinematics was not done. ZygmuntTowarek (2003) has developed few kinematicrelationships in terms of the transformationmatrices between the frames. He onlydetermined those kinematic equations that canbe helpful for him to develop a mathematicaldynamic model for an excavator. Apart fromthis, the transformation matrices establishedby him were only giving the rotationaltransformation, as it was the only need for hisstudy. Thus he also did not establish anysystematic kinematic relationships requiredencoding the geometrical relationships of theexcavator and his kinematic model is notcomplete. So, there is scope to developcomplete kinematic model for four degree offreedom system by considering swing, boom,arm and bucket link (Vaha and Skibniewski,1993; Hofstra et al., 2000; Zygmunt Towarek,2003).

Koivo (1994) has presented the kinematicsof specific construction machines asexcavators. A systematic procedure ispresented to assign Cartesian coordinateframes for the links (joints) of an excavator.Coordinate frame assignment for excavatorshown in Figure 11. If the lengths of theactuators or the joint variable angles are given,the position and orientation of the bucket are

determined by the forward kinematicequations. If the position and orientation of thebucket are specified, the joint variable anglescorresponding to this bucket pose and thelengths of the actuators are calculated from theinverse kinematic equations, the correspondingvelocity relations are derived for thehydraulically driven excavator. The kinematicequations presented establish the foundationfor automatic computer control of this type ofconstruction machine. David A Bradley andDerek W Seward (1995) the LUCIE systemhas demonstrated a number of novel conceptsin its approach to automated and roboticexcavation and in particular features such asthe use of velocity vector control and softwareforce feedback to control the motion of thebucket through ground. During excavation, themotion of the excavator arm is constrained tothe line of the trench in which case referringFigure 12 of excavator kinematics. Theequations for angular velocities of each jointwere developed. This structure is implementedin real-time using a production rule based AIformat. They have control the movement of theexcavator or LUCIE through ground byimplementation of a real-time artificialintelligence based control system utilizing anovel form of motion control strategy, Rao andBhatti (2001) have developed a probabilisticmodel of the manipulator kinematics to accountfor the random errors in the kinematicparameters. The link and joint parameters ofa general robotic arm are shown in Figure 13.Based on the probabilistic model kinematicperformance criteria are defined to providemeasures of the behavior of the robotic end-effectors. Gaussian distributions are assumedfor the various manipulator parameters, and

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the joint efforts are modelled as Markovstochastic processes. Indices called kinematicreliabilities are proposed as measures toassess the performance of a manipulator. The

Figure 12: Excavator Kinematics

Figure 13: Link and Joint Parameters

analytical approach is computationally moreinvolved and the simulation technique isnumerically more convenient to compute theperformance measures of a manipulator(Koivo, 1994; David A Bradley, Derek WSeward, 1995; Rao and Bhatti, 2001).

Hsin-Sheng Lee et al. (2002) havedeveloped CAD/CAE/CAM and remotecontrol integrated system for a pneumaticexcavator mechanism. The Pneumatic

excavator prototype shown in Figure 14. Thevector loop method and Visual C++ languagewere used to build the position analysismodule. The velocity of the links could beobtained easily by differentiating the positionequation with respect to time. Linkaccelerations were than obtained bydifferentiating the velocity equation. Theposition analysis determines the workingspace of the excavator loader and helps thedesigner to choose the proper length and linkconfiguration and Rosen Mitrev et al. (2011)have described work related to CAD/CAE

Figure 14: Pneumatic ExcavatorPrototype

Figure 15: A 3D CAD Model of ExcavatorWorking Equipment

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investigation of the mechanical system of largemining excavator with Tri-power system. Theinvestigation is performed in Autodesk Inventorenvironment. A 3D model of the excavatorworking equipment is developed as shown inFigure 15, which is helpful for investigation ofgeometrical forces, Kinematical anddynamical parameters of the mechanicalsystem and it is also useful to finding out theworkspace of excavator (Hsin-Sheng Lee etal., 2002; Rosen Mitrev et al., 2011).

Fuad Mrad et al. (2002) have developedsimulation package using Matlab with severalembeded design and analysis tools,Emulation was also carried out on the Rhinoeducational robot to confirm the simulationresults. The constructed simulation packageoffered an integrated environment for trajectorydesign and analysis for an excavator whileaddressing the constraints related to theexcavator structure, safety, stability and modeof application. In this simulation package theyhave carried out kinematic modelling forexcavator and the numerical values ofspecifications are adopted for the JCB-3CXcommercial excavator as per brochure of theexcavator. The structure of the backhoe

Figure 16: Structure of theExcavator Model

Figure 17: Structural Parameters ofExcavator Model

Figure 18: Configuration of ExcavatorIK Problem

excavator model shown in Figure 16, and thestructural parameters of the excavator modelshown in Figure 17. Vineet R Kamat and JulioC Martinez (2009) have described concept forhow can we do forward and inverse kinematicsof excavator and showing Configuration of aexcavator inverse kinematics Problem shownin Figure 18 (Fuad Mrad et al., 2002; VineetR. Kamat andJulio C. Martinez, 2004).

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Emil Assenov et al. (2003) have carried outstudy on kinematics of working mechanism ofhydraulic excavator. The mechanism of thismanipulator is plane multi-linkage, whichconsists of arms joined and hydraulic cylinders.They have considered the working mechanismas conjunction of jib, arm and bucket, whichare joined by the cylindrical joints and hydrauliccylinders. A model of mechanism arm shownin Figure 19. The equation for the length of thecylinder is derived. Simulation of such amechanism is made by using Lagrangeequation of the first type with unknownmultipliers. The results can be used for creationof a control system of the working process ofthe hydraulic excavator. Geu Flores et. al.

Figure 19: A Modelof Mechanism Arm-jib

Figure 20: Terex Face-shovelExcavator RH-340

Figure 21: Workspace of an Excavator

(2007) have described a method based on theconcept of kinematical transformers for findingclosed-form solutions for the kinematics ofTerex face-shovel excavator RH-340 as shownin Figure 20. In this concept, each multi-bodyloop is regarded as a transmission element,which is coupled by linear equations with theother multi-body loops. The work space of anexcavator is carried out for a practical face-shovel excavator using the designed software.The resulting workspace of an excavator in

Figure 22: Manipulator Configuration

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design environment shown in Figure 21 (EmilAssenov et al., 2003; Geu Flores et al., 2007).

Jungwon Yoon and Auralius Manurung(2010) have developed an intuitive userinterface for a hydraulic backhoe excavator.

Figure 22: Workspaceof Backhoe Excavator

(a) Workspace Top View

(b) Workspace Side View

They have developed workspace analysis ofthe backhoe excavator using threedimensional (3D) modelling tool (Solid works,Dassault system Solid works Corp. Concord,MA, USA) and verified through a numericalanalysis of the inverse kinematics and Jointlimitation, Workspace of the backhoe

Figure 23: Schematic and VariousDimensions of the Backhoe Model

excavator shown in Figure 22 (Jungwon Yoonand Auralius Manurung, 2010).

Donald Margolis and Taehyun Shim (2003)have developed a complete pitch/plane modelof a backhoe that includes the hydraulicdynamics and kinematics of the control linkage.Schematic and various dimensions ofbackhoe model shown in Figure 23. Equationswere derived directly from the bond graph andprogrammed for simulation using a digitalcomputer. Simulations were run for an initialcondition response from near equilibrium. Themodel predicts the instability observed on theactual backhoe, and is now ready to be usedas a design tool for future backhoedevelopment. Hall and McAree (2005) havestudied on the excavation arm of a largehydraulic mining shovel having a multi-loopkinematic form. They have described aniterative algorithm that allows the position ofthe bucket to be tracked from measurementsof the linear actuator extensions. The importantcharacteristic of this algorithm is that it isnumerically well-behaved when the linkage isclose to singular configuration. They have alsocarried out forward kinematic tracking using amulti-dimensional Newton–Raphson solver

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which is helpful to determining the time-varyingtrajectory from measurements of the cylinderlengths. The kinematic layout of the excavationarm shown in Figure 24 (Donald Margolis andTaehyun Shim, 2003; Hall and McAree, 2005).

Hyongju Park et. al. (2008) the recurrentneural network was implemented for betterkinematics control of the excavator withobstacle avoidance capability. A recurrentneural network algorithm and joint constraintswas conducted to effectively accomplish thegoals of excavation task execution, joint limitcontrol, and obstacle avoidance at the sametime. The forward kinematics model of theexcavator was established. For convenienceand generality Denavit-Hartenburg (DH)notation was used to build homogenoustransformation matrices. With additional boundconstraints, excavator model can perform itsjob without any problem, such asmalfunctioning, sudden stop, etc. Simulationresults show that the position error wasreasonably small, on the assumption thatexcavator model has only one availableredundancy. Dongnam Kim et al. (2009) havereview a novel concept of applying tele-operated device was developed for the remote

Figure 24: Kinematic Layoutof the Excavation Arm

control of excavator-like dismantlingequipment. As a tele-operated system, thiscontroller is designed to improve theoperability of the excavator. They havedeveloped all the necessary kinematicanalysis to design the tele-operated systemand basic motion control simulations to the realexcavator working at construction site areconducted with designed tele-operatedsystem. This device is designed based on thekinematics of the excavator, which can cover3-dimensional workspace. Kinematic modelof excavator shown in Figure 25, Yan Jun etal. (2013) have described reviews onmodelling, identification, and low level control

Figure 25: Kinematic Modelof Excavator

Figure 26: Typical Excavator and ItsCoordinate Frames

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of the robotic excavator. Typical Excavator andIts coordinate Frames as shown in Figure 26.First modelling of the nonlinear hydraulicdynamics, coupling manipulator dynamics andsoil-tool interaction dynamics are reviewed.Then, methods for identification of theestablished models are discussed. Finally,robust position control and compliance controlof the robotic excavator are investigated(Hyongju Park et al., 2008; Dongnam Kim etal., 2009; Yan Jun et al., 2013).

Patel and Prajapati (2011) have describedreview of a work carried out by researchers inthe field of kinematic modelling of theexcavatorbackhoe attachment to understandrelations between the position and orientationof the bucket and spatial positions of joint-links.Yang Cheng et. al. (2012) havedescribed development of hydraulic excavatorattachment. This paper focuses on theresearch work of excavator backhoeattachment, which is mainly includes thoseaspects, such as the kinematic analysis,dynamic analysis, structural analysis, trajectoryplanning and control, fatigue life analysis andstructural optimization design and thedevelopment trends of excavator backhoeattachment in near future are forecasted ( Pateland Prajapati, 2011; Yang et al., 2012).

Jolly Shah et al. (2013) have described thekinematic analysis of a Pravak Robot armwhich is used for doing successful roboticmanipulation task in its workspace. ThePravak Robot Arm is a 5-DOF robot having allthe joints revolute. The kinematics problem isdefined as the transformation from theCartesian space to the joint space and viceversa. In this study the Denavit-Hartenberg (D-H) parameter is used to model robot links and

joints. Pravak Robot arm is a simple and saferobotic system designed for laboratory trainingand research applications. This robot allowsto gain theoretical and practical experience inrobotics, automation and control systems.Matlab software is used to analyze endeffectors position for a set of joint parameter.Anil Jadhav et al. (2014) have described thekinematic analysis of whole assembly ofexcavator backhoe attachment forunderstanding the behavior of the various jointswhich are used for connecting the parts ofexcavator machine. Sardana et al. (2013) havedescribed a simple geometric approach tosolve the problem of multiple inverse kinematicsolutions of redundant manipulators, to find asingle optimum solution and to easily switchfrom one solution to another depending uponthe path and the environment. Boris Vidolovand Svetoslav Genchev (2005) have developedtwo heuristic approaches for inversekinematics of a real 12 MXT MECALACredundant excavator. They have presented apriority approach and alternating approach insimulation, the method gives a very smoothoverall motion. They have developed asimulator in order to test and validate their

Figure 27: MECALAC Arm Scheme

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developments. This is generic tool that allowus to simulate different kinematics anddynamic models to evaluate various controlalgorithms, to observe the behavior of thedifferent body, actuators, tools of the studiedarms, to quantify the capacities of developedapproaches to follow specified trajectories.MECALAC arm scheme shown in Figure 27(Jolly Shah et al., 2013; Anil Jadhav et al.,2014; Sardana et al., 2013; Boris Vidolov andSvetoslav Genchev, 2005).

Figure 28: A Backhoe Excavator

Figure 29: Kinematic Modelof Backhoe Excavator

Sanjiv Singh (1995) has showing kinematicmodel of backhoe excavator as shown inFigure 29 and described Forward and Inversekinematics of backhoe excavator. ArvindKumar Sharma (2005), Joe Frankel (2003),Matthew E Kontz (2007) and Nguyen HongQuang (2000) have described kinematics ofexcavator backhoe attachment, and showing

backhoe Relationship between CylinderSpace to Joint Space and Joint Space toCylinder Space (Sanjiv Singh, 1995; ArvindKumar Sharma, 2005; Joe Frankel, 2003;Matthew E Kontz, 2007; Nguyen Hong Quang,2000).

CONCLUSION

A Critical Reviews carried out on kinematicsof excavator backhoe attachment andconclude that no. of researcher work onkinematics of excavator backhoe attachmentby considering boom and arm link only (2-DOFsystem) and no. of researcher work onkinematics of excavator backhoe attachmentby considering boom, arm and bucket link (3-DOF system) for planner case using thiskinematic model only digging operation canbe controlled but no one can explain deeplykinematics of excavator by considering swing,boom, arm and bucket link (4-DOF system)for three-dimensional space still there is scopeto develop kinematic model of excavator byconsidering 4-DOF system by using thiskinematic model both digging and dumpingoperation can be controlled which is helpful todevelop autonomous excavator machine.

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Documents

A CRITICAL REVIEW ON KINEMATICS OF 188 Int. J. Mech. Eng. & Rob. Res. 2015 Mehul Kumar A Patel., 2015 A CRITICAL REVIEW ON KINEMATICS OF HYDRAULIC EXCAVATOR BACKHOE ATTACHMENT Dhaval