Virtual technology and haptic interface solutions for design and control of mobile working machines
Heikkinen, Jani (2013-08-30)
Väitöskirja
Heikkinen, Jani
30.08.2013
Lappeenranta University of Technology
Acta Universitatis Lappeenrantaensis
Julkaisun pysyvä osoite on
https://urn.fi/URN:ISBN:978-952-265-442-7
https://urn.fi/URN:ISBN:978-952-265-442-7
Tiivistelmä
Commercially available haptic interfaces are usable for many purposes. However, as
generic devices they are not the most suitable for the control of heavy duty mobile
working machines like mining machines, container handling equipment and excavators.
Alternative mechanical constructions for a haptic controller are presented and analysed.
A virtual reality environment (VRE) was built to test the proposed haptic controller
mechanisms. Verification of an electric motor emulating a hydraulic pump in the
electro-hydraulic system of a mobile working machine is carried out. A real-time
simulator using multi-body-dynamics based software with hardware-in-loop (HIL)
setup was used for the tests. Recommendations for further development of a haptic
controller and emulator electric motor are given.
generic devices they are not the most suitable for the control of heavy duty mobile
working machines like mining machines, container handling equipment and excavators.
Alternative mechanical constructions for a haptic controller are presented and analysed.
A virtual reality environment (VRE) was built to test the proposed haptic controller
mechanisms. Verification of an electric motor emulating a hydraulic pump in the
electro-hydraulic system of a mobile working machine is carried out. A real-time
simulator using multi-body-dynamics based software with hardware-in-loop (HIL)
setup was used for the tests. Recommendations for further development of a haptic
controller and emulator electric motor are given.
Kokoelmat
- Väitöskirjat [1037]