Motor graders are heavy construction equipment that specialize in leveling ground surfaces. These machines adjust the blade beneath the vehicle body to perform various tasks. With the growing interest in the automation of motor grader operations, the complexity of the earthmoving mechanism and multitasking while driving degrade the efficiency and performance of these operations. Controlling the blade pose for the desired earthwork poses significant challenges for the 3RRPS-S module owing to the complex and coupled nature of the hydraulic actuators. This paper proposes a kinematic analysis of the earthwork mechanism to identify and control the blade pose. A method for the kinematic parameter calibration of the 3RRPS-S module is introduced to improve the control accuracy of the earthmoving mechanism. The blade pose was determined based on the vehicle coordinate system by considering the slope of the vehicle to achieve the desired blade position in the global coordinate system.

中文翻译：

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自动化平地机调平作：用于叶片姿态控制的运动学分析


平地机是专门用于平整地面的重型建筑设备。这些机器调整车身下方的刀片以执行各种任务。随着人们对平地机作自动化的兴趣日益浓厚，土方机构的复杂性和驾驶时的多任务处理降低了这些作的效率和性能。由于液压执行器的复杂性和耦合性，控制所需土方工程的叶片姿势对 3RRPS-S 模块构成了重大挑战。本文提出了土方机构的运动学分析，以识别和控制叶片姿态。为提高土方机构的控制精度，介绍了一种 3RRPS-S 模块的运动学参数标定方法。叶片姿态是根据车辆坐标系确定的，通过考虑车辆的坡度，在全局坐标系中实现所需的叶片位置。