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Wellington Thwala - One of the best experts on this subject based on the ideXlab platform.
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Risk of Excavators overturning: Determining horizontal centrifugal force when slewing freely suspended loads
Engineering Construction and Architectural Management, 2019Co-Authors: David J. Edwards, Erika Parn, Michael C P Sing, Wellington ThwalaAbstract:Tracked hydraulic Excavators are versatile and ubiquitous items of off-highway plant and machinery that are utilised throughout the construction industry. Each year, a significant number of Excavators overturn whilst conducting a lifting operation, causing damage to property, personnel injury or even fatality. The reasons for the overturn are myriad, including: operational or environmental conditions; machine operator acts or omissions; and/or inadequate site supervision. Furthermore, the safe working load (SWL) figure obtained from manufacturer guidance and utilised in lift plans is based upon undertaking a static load only. The purpose of this paper is to determine whether the SWL is still safe to be used in a lift plan when slewing a freely suspended (dynamic) load, and, if not, whether this may be a further contributory factor to overturn incidents.,Previous research has developed a number of machine stability test regimes but these were largely subjective, impractical to replicate and failed to accurately measure the “dynamic” horizontal centrifugal force resulting from slewing the load. This research contributes towards resolving the stability problem by critically evaluating existing governing standards and legislation, investigating case studies of excavator overturn and simulating the dynamic effects of an excavator when slewing a freely suspended load at high rotations per minute (rpm). To achieve this, both the static load and horizontal centrifugal force from slewing this load were calculated for six randomly selected cases of an excavator, with different arm geometry configurations.,The results from the six cases are presented and a worked example of one is detailed to demonstrate how the results were derived. The findings reveal that the SWL quoted on an excavator’s lift rating chart considerably underestimates the extra forces experienced by the machine when an additional dynamic load is added to the static load whilst lifting and slewing a freely suspended load.,This work presents the first attempt to accurately model excavator stability by taking consideration of the dynamic forces caused by slewing a freely suspended load and will lead to changes in the way that industry develops and manages lift plans. Future research proposes to vary the weight of load, arm geometry and rpm to predict machine stability characteristics under various operational conditions, and exploit these modelling data to populate pre-programmed sensor-based technology to monitor stability in real time and automatically restrict lift mode operations.
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Risk of Excavators overturning: Determining horizontal centrifugal force when slewing freely suspended loads
2019Co-Authors: Edwards D, Erika Parn, Sing Mcp, Wellington ThwalaAbstract:© 2019, Emerald Publishing Limited. Purpose: Tracked hydraulic Excavators are versatile and ubiquitous items of off-highway plant and machinery that are utilised throughout the construction industry. Each year, a significant number of Excavators overturn whilst conducting a lifting operation, causing damage to property, personnel injury or even fatality. The reasons for the overturn are myriad, including: operational or environmental conditions; machine operator acts or omissions; and/or inadequate site supervision. Furthermore, the safe working load (SWL) figure obtained from manufacturer guidance and utilised in lift plans is based upon undertaking a static load only. The purpose of this paper is to determine whether the SWL is still safe to be used in a lift plan when slewing a freely suspended (dynamic) load, and, if not, whether this may be a further contributory factor to overturn incidents. Design/methodology/approach: Previous research has developed a number of machine stability test regimes but these were largely subjective, impractical to replicate and failed to accurately measure the “dynamic” horizontal centrifugal force resulting from slewing the load. This research contributes towards resolving the stability problem by critically evaluating existing governing standards and legislation, investigating case studies of excavator overturn and simulating the dynamic effects of an excavator when slewing a freely suspended load at high rotations per minute (rpm). To achieve this, both the static load and horizontal centrifugal force from slewing this load were calculated for six randomly selected cases of an excavator, with different arm geometry configurations. Findings: The results from the six cases are presented and a worked example of one is detailed to demonstrate how the results were derived. The findings reveal that the SWL quoted on an excavator’s lift rating chart considerably underestimates the extra forces experienced by the machine when an additional dynamic load is added to the static load whilst lifting and slewing a freely suspended load. Originality/value: This work presents the first attempt to accurately model excavator stability by taking consideration of the dynamic forces caused by slewing a freely suspended load and will lead to changes in the way that industry develops and manages lift plans. Future research proposes to vary the weight of load, arm geometry and rpm to predict machine stability characteristics under various operational conditions, and exploit these modelling data to populate pre-programmed sensor-based technology to monitor stability in real time and automatically restrict lift mode operations
Erika Parn - One of the best experts on this subject based on the ideXlab platform.
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Risk of Excavators overturning: Determining horizontal centrifugal force when slewing freely suspended loads
Engineering Construction and Architectural Management, 2019Co-Authors: David J. Edwards, Erika Parn, Michael C P Sing, Wellington ThwalaAbstract:Tracked hydraulic Excavators are versatile and ubiquitous items of off-highway plant and machinery that are utilised throughout the construction industry. Each year, a significant number of Excavators overturn whilst conducting a lifting operation, causing damage to property, personnel injury or even fatality. The reasons for the overturn are myriad, including: operational or environmental conditions; machine operator acts or omissions; and/or inadequate site supervision. Furthermore, the safe working load (SWL) figure obtained from manufacturer guidance and utilised in lift plans is based upon undertaking a static load only. The purpose of this paper is to determine whether the SWL is still safe to be used in a lift plan when slewing a freely suspended (dynamic) load, and, if not, whether this may be a further contributory factor to overturn incidents.,Previous research has developed a number of machine stability test regimes but these were largely subjective, impractical to replicate and failed to accurately measure the “dynamic” horizontal centrifugal force resulting from slewing the load. This research contributes towards resolving the stability problem by critically evaluating existing governing standards and legislation, investigating case studies of excavator overturn and simulating the dynamic effects of an excavator when slewing a freely suspended load at high rotations per minute (rpm). To achieve this, both the static load and horizontal centrifugal force from slewing this load were calculated for six randomly selected cases of an excavator, with different arm geometry configurations.,The results from the six cases are presented and a worked example of one is detailed to demonstrate how the results were derived. The findings reveal that the SWL quoted on an excavator’s lift rating chart considerably underestimates the extra forces experienced by the machine when an additional dynamic load is added to the static load whilst lifting and slewing a freely suspended load.,This work presents the first attempt to accurately model excavator stability by taking consideration of the dynamic forces caused by slewing a freely suspended load and will lead to changes in the way that industry develops and manages lift plans. Future research proposes to vary the weight of load, arm geometry and rpm to predict machine stability characteristics under various operational conditions, and exploit these modelling data to populate pre-programmed sensor-based technology to monitor stability in real time and automatically restrict lift mode operations.
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Risk of Excavators overturning: Determining horizontal centrifugal force when slewing freely suspended loads
2019Co-Authors: Edwards D, Erika Parn, Sing Mcp, Wellington ThwalaAbstract:© 2019, Emerald Publishing Limited. Purpose: Tracked hydraulic Excavators are versatile and ubiquitous items of off-highway plant and machinery that are utilised throughout the construction industry. Each year, a significant number of Excavators overturn whilst conducting a lifting operation, causing damage to property, personnel injury or even fatality. The reasons for the overturn are myriad, including: operational or environmental conditions; machine operator acts or omissions; and/or inadequate site supervision. Furthermore, the safe working load (SWL) figure obtained from manufacturer guidance and utilised in lift plans is based upon undertaking a static load only. The purpose of this paper is to determine whether the SWL is still safe to be used in a lift plan when slewing a freely suspended (dynamic) load, and, if not, whether this may be a further contributory factor to overturn incidents. Design/methodology/approach: Previous research has developed a number of machine stability test regimes but these were largely subjective, impractical to replicate and failed to accurately measure the “dynamic” horizontal centrifugal force resulting from slewing the load. This research contributes towards resolving the stability problem by critically evaluating existing governing standards and legislation, investigating case studies of excavator overturn and simulating the dynamic effects of an excavator when slewing a freely suspended load at high rotations per minute (rpm). To achieve this, both the static load and horizontal centrifugal force from slewing this load were calculated for six randomly selected cases of an excavator, with different arm geometry configurations. Findings: The results from the six cases are presented and a worked example of one is detailed to demonstrate how the results were derived. The findings reveal that the SWL quoted on an excavator’s lift rating chart considerably underestimates the extra forces experienced by the machine when an additional dynamic load is added to the static load whilst lifting and slewing a freely suspended load. Originality/value: This work presents the first attempt to accurately model excavator stability by taking consideration of the dynamic forces caused by slewing a freely suspended load and will lead to changes in the way that industry develops and manages lift plans. Future research proposes to vary the weight of load, arm geometry and rpm to predict machine stability characteristics under various operational conditions, and exploit these modelling data to populate pre-programmed sensor-based technology to monitor stability in real time and automatically restrict lift mode operations
David J. Edwards - One of the best experts on this subject based on the ideXlab platform.
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Risk of Excavators overturning: Determining horizontal centrifugal force when slewing freely suspended loads
Engineering Construction and Architectural Management, 2019Co-Authors: David J. Edwards, Erika Parn, Michael C P Sing, Wellington ThwalaAbstract:Tracked hydraulic Excavators are versatile and ubiquitous items of off-highway plant and machinery that are utilised throughout the construction industry. Each year, a significant number of Excavators overturn whilst conducting a lifting operation, causing damage to property, personnel injury or even fatality. The reasons for the overturn are myriad, including: operational or environmental conditions; machine operator acts or omissions; and/or inadequate site supervision. Furthermore, the safe working load (SWL) figure obtained from manufacturer guidance and utilised in lift plans is based upon undertaking a static load only. The purpose of this paper is to determine whether the SWL is still safe to be used in a lift plan when slewing a freely suspended (dynamic) load, and, if not, whether this may be a further contributory factor to overturn incidents.,Previous research has developed a number of machine stability test regimes but these were largely subjective, impractical to replicate and failed to accurately measure the “dynamic” horizontal centrifugal force resulting from slewing the load. This research contributes towards resolving the stability problem by critically evaluating existing governing standards and legislation, investigating case studies of excavator overturn and simulating the dynamic effects of an excavator when slewing a freely suspended load at high rotations per minute (rpm). To achieve this, both the static load and horizontal centrifugal force from slewing this load were calculated for six randomly selected cases of an excavator, with different arm geometry configurations.,The results from the six cases are presented and a worked example of one is detailed to demonstrate how the results were derived. The findings reveal that the SWL quoted on an excavator’s lift rating chart considerably underestimates the extra forces experienced by the machine when an additional dynamic load is added to the static load whilst lifting and slewing a freely suspended load.,This work presents the first attempt to accurately model excavator stability by taking consideration of the dynamic forces caused by slewing a freely suspended load and will lead to changes in the way that industry develops and manages lift plans. Future research proposes to vary the weight of load, arm geometry and rpm to predict machine stability characteristics under various operational conditions, and exploit these modelling data to populate pre-programmed sensor-based technology to monitor stability in real time and automatically restrict lift mode operations.
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Guidance on Using Excavators for Object Handling (Using Excavators as 'Cranes')
2014Co-Authors: Gary David Holt, David J. EdwardsAbstract:Given the broad range of excavator types and configurations, they are frequently used in all types of building, civil engineering and demolition work; as well as in other sectors such as agriculture and quarrying. In addition to the excavating bucket, a broad range of attachments are available for Excavators such as shears, grabs, breakers, magnets, crushers and rips. These can extend the functions of the machine and therefore open it up to other uses such as waste and recycling, forestry, demolition and so on. It is when the excavator is used for one particular type of (non-earth-moving) activity – termed object handling – that it can present a particular array of additional hazards to the operator and others. Using the machine in this way can also expose these parties and the machine owner, to additional (e.g. lifting operations) legislation. This industry-facing technical publication relates to the safe use of Excavators when employed to undertake object handling tasks – which are also otherwise referred to as lifting operations or using an excavator as a crane.
Michael C P Sing - One of the best experts on this subject based on the ideXlab platform.
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Risk of Excavators overturning: Determining horizontal centrifugal force when slewing freely suspended loads
Engineering Construction and Architectural Management, 2019Co-Authors: David J. Edwards, Erika Parn, Michael C P Sing, Wellington ThwalaAbstract:Tracked hydraulic Excavators are versatile and ubiquitous items of off-highway plant and machinery that are utilised throughout the construction industry. Each year, a significant number of Excavators overturn whilst conducting a lifting operation, causing damage to property, personnel injury or even fatality. The reasons for the overturn are myriad, including: operational or environmental conditions; machine operator acts or omissions; and/or inadequate site supervision. Furthermore, the safe working load (SWL) figure obtained from manufacturer guidance and utilised in lift plans is based upon undertaking a static load only. The purpose of this paper is to determine whether the SWL is still safe to be used in a lift plan when slewing a freely suspended (dynamic) load, and, if not, whether this may be a further contributory factor to overturn incidents.,Previous research has developed a number of machine stability test regimes but these were largely subjective, impractical to replicate and failed to accurately measure the “dynamic” horizontal centrifugal force resulting from slewing the load. This research contributes towards resolving the stability problem by critically evaluating existing governing standards and legislation, investigating case studies of excavator overturn and simulating the dynamic effects of an excavator when slewing a freely suspended load at high rotations per minute (rpm). To achieve this, both the static load and horizontal centrifugal force from slewing this load were calculated for six randomly selected cases of an excavator, with different arm geometry configurations.,The results from the six cases are presented and a worked example of one is detailed to demonstrate how the results were derived. The findings reveal that the SWL quoted on an excavator’s lift rating chart considerably underestimates the extra forces experienced by the machine when an additional dynamic load is added to the static load whilst lifting and slewing a freely suspended load.,This work presents the first attempt to accurately model excavator stability by taking consideration of the dynamic forces caused by slewing a freely suspended load and will lead to changes in the way that industry develops and manages lift plans. Future research proposes to vary the weight of load, arm geometry and rpm to predict machine stability characteristics under various operational conditions, and exploit these modelling data to populate pre-programmed sensor-based technology to monitor stability in real time and automatically restrict lift mode operations.
Peter D. Lawrence - One of the best experts on this subject based on the ideXlab platform.
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Impedance control of a teleoperated excavator
IEEE Transactions on Control Systems Technology, 2002Co-Authors: Shahram Tafazoli, Keyvan Hashtrudi-zaad, Septimiu E Salcudean, Peter D. LawrenceAbstract:Earth-moving machines such as hydraulic Excavators are usually used for carrying out contact tasks. Impedance control can be employed as an approach for achieving compliant motion in such tasks. This paper describes a position-based impedance controller that has been developed in our laboratory for excavator-type manipulators, and presents the supporting experimental results. First, the problem of impedance control for a single hydraulic cylinder is addressed and a method is presented to analyze the system stability. The steady-state position and force tracking accuracy of the closed-loop system is also studied. Next, the problem of impedance control for a multi-link hydraulic excavator is addressed and the arm Jacobian and accurate estimates of the arm inertial terms are employed to map the desired impedance of the end-effector (bucket of the excavator) onto the hydraulic cylinders. Various contact experiments carried out using an instrumented mini-excavator demonstrate that the proposed impedance controller has very good performance for both single-link and multilink cases
