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The Prototype and the Simulation Results of Hydraulic Power Transmission of Teleoperated Skid Steered Mobile Machine
Technical Paper
2006-01-3470
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
The goal of the paper is to study the properties of a teleoperated mobile machine by means of simulation model of the system and measurements. In this paper some parts of the prototype of the teleoperated machine and the verification results of simulation model of the mobile machine are introduced. The challenge in teleoperation is to have a smooth and accurate control of the machine, because the operator can not feel any force feedback. The machine is valve controlled and the influence of different types of valves is significant for the control of the machine.
In this paper is studied via simulation model different kind of valve solutions such as different spool types and effect of pressure compensator among others.
The goal in future is to have a totally autonomous mobile machine and it needs more research and development work. With simulation model of the machine it is possible to test new components and hydraulic solutions for power transmission of the mobile machine.
In paper autonomous land vehicles [7] is described the current state-of-the-art in autonomous land vehicle systems and technology. Around the world there are many current research and development projects aimed at developing autonomous land vehicles. The goal of this study and research work which results is presented in this paper is in future to have autonomous mobile machine. This machine is equipped with mobile hydraulic components and of commercial point of view the cost of the machine should be as low as possible. This is the reason why also companies are interested of this work and the development and research work is very challenging.
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Authors
- J. Vilenius - Institute of Hydraulics and Automation (IHA) and Tampere University of Technology (TUT)
- M. Hyvönen - Institute of Hydraulics and Automation (IHA) and Tampere University of Technology (TUT)
- A. Vuohijoki - Institute of Hydraulics and Automation (IHA) and Tampere University of Technology (TUT)
- O. Karhu - Institute of Hydraulics and Automation (IHA) and Tampere University of Technology (TUT)
- J. Moya - Institute of Hydraulics and Automation (IHA) and Tampere University of Technology (TUT)
- K. Huhtala - Institute of Hydraulics and Automation (IHA) and Tampere University of Technology (TUT)
Citation
Vilenius, J., Hyvönen, M., Vuohijoki, A., Karhu, O. et al., "The Prototype and the Simulation Results of Hydraulic Power Transmission of Teleoperated Skid Steered Mobile Machine," SAE Technical Paper 2006-01-3470, 2006, https://doi.org/10.4271/2006-01-3470.Also In
References
- Parker Hannifin Corporation 1999 Mobile Hydraulic Technology USA
- Raneda A. Vilenius J. Huhtala K. 2003 Development of A Teleoperated Hydraulic Mobile Machine Proc. of SICFP 2003 Finland 449 459
- Hyvönen M. Vilenius J. Vuohijoki A. Huhtala K. Mathematical Model of The Valve Controlled Skid Steered Mobile Machine Proc. of FPNI'06 2006 Denmark
- Raneda A. Vilenius J. Mäkinen E. Virvalo T. 2002 Efficient Remote Control of a Hydraulic Mobile Machine Proc. of Mechatronics 2002 The Netherlands
- Vilenius J. Raneda A. Hyvönen M. Uusisalo J. Huhtala K. Valve Controlled Teleoperated Skid Steered Mobile Machine Proc. of IMECE 2004 Anaheim, USA 2004
- Danfoss Sauer PVG 32 Proportional Valves Technical Information 2001
- Durrant-Whyte H. Autonomous Land Vehicles Proceedeings of the I MECH E Part I Journal of Systems&Control Engineering 2005