A REVIEW ON KINEMATICS OF HYDRAULIC EXCAVATOR'S BACKHOE ATTACHMENT

An excavator is a typical hydraulic heavy-duty human-operated machine used in general versatile construction operations, such as digging, ground leveling, carrying loads, dumping loads and straight traction. These operations require coordinated movement of boom, arm and bucket in order to control the bucket tip position to follow a desired trajectory. This paper focuses on review of a work carried out by researchers in the field of kinematic modeling of the backhoe attachment to understand relations between the position and orientation of the bucket and spatial positions of joint-links. Kinematic modeling is helpful for understanding and improving the operating performance of the backhoe excavation machine. There are many research work done by researchers in the same field but still there is a scope to develop kinematic modeling of backhoe attachment to predict the digging trajectory as well as better controlling of backhoe attachment to carry out required digging task at desired location.

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