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Estimation of Soil Pressures Based on the Pressures in the Hydraulic System for a Legged Forestry Machine

Beiser, Sebastian ORCID iD icon 1; Geimer, Marcus 1
1 Institut für Fahrzeugsystemtechnik (FAST), Karlsruher Institut für Technologie (KIT)

Abstract:

Harvesting operations with wheeled forestry machines can bring great harm to wet soils due to the machine weight and wheel slip. Factors such as the reduction of wheel slip, machine weight and total area affected by forestry machines are crucial in protecting soils. The accurate measurement of the pressure introduced by forestry machines to the soil, without harming the structure of the ground nor making assumptions of the tire or ground behavior, poses a challenge. Within this article a method to calculate the contact soil pressure, of a portal advancing mechanism for sensitive soils is presented. The results are then further evaluated based on simulative results. B y using the kinematics of the legged machine, it becomes possible to determine the soil pressure without making rough assumptions of the legs or the ground. The kinematic allows to measure the forces of the hydraulic actuators that are holding the legs in position. Through this, a direct calculation of the force which is transferred to the ground can be made. To determine the forces of the hydraulic actuators in a movement cycle, a coupled simulation of the kinematic and hydraulic system is set up. ... mehr


Postprint §
DOI: 10.5445/IR/1000154232
Veröffentlicht am 09.01.2023
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Fahrzeugsystemtechnik (FAST)
Publikationstyp Proceedingsbeitrag
Publikationsjahr 2022
Sprache Englisch
Identifikator ISBN: 979-8-9855282-1-3
KITopen-ID: 1000154232
Erschienen in Proceedings of The Joint 44th Annual Meeting of Council on Forest Engineering (COFE), the 54th International Symposium on Forest Mechanization (FORMEC), and 2022 IUFRO : All-Division 3 Meeting "One Big Family – Shaping Our Future Together", October 4-7, 2022 Corvallis, Oregon, U.S.A. Ed.: W. Chung
Veranstaltung 44th / 54th Joint Annual Meeting of Council on Forest Engineering, International Symposium on Forest Mechanization, and 2022 All-Division 3 Meeting (COFE / FORMEC / IUFRO 2022), Corvallis, OR, USA, 04.10.2022 – 07.10.2022
Seiten 174-184
Projektinformation Portalschreitwerk (BMEL, 2220NR216B)
Schlagwörter portal advancing mechanism, soil pressure, simulation, hydraulics
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