1P1-L06 Development of the DEMPSI: Dynamical Excavator Model for Physical Stability Inspection(Robotics and Mechatronics in Construction and Demolition)

Abstract

In this paper, we focus on the instability dynamics of excavator, which lead to unexpected displacement. In order to analyze the turnover phenomena, we develop simple excavator model named Dempsi, by applying the principle of a tripedal walking robot 'Martian ll'. By exciting the heading and the boom angular velocity to the robot simultaneously, we examine the motion analogy between the different scale models, from the viewpoint of the oscillation and displacement.