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Creation of Digital Twin for a Feller Buncher
Denis Kartachov, Professor Inna SharfMcGill Aerospace Mechatronics Lab, Department of Mechanical Engineering, McGill University – Montreal, QC, Canada
I N T R O D U C T I O N
• Timber harvesting is an important business in many
countries worldwide including Canada
• Variety of machinery used such as feller bunchers,
forwarders, and skidders which all rely on operator
judgement and control to function
• Difficulties in finding operators due to roughness of
work conditions and high training costs
• Lack of automation in industry is a potential for human
error, safety hazards and suboptimal efficiency
PHONE
(SLIDESHOW)
O B J E C T I V E S
• Develop model of a feller buncher in the Vortex Studio
physics engine
• Integrate into the model a virtual forest with realistic
terrain properties
R E S U LT S
Motivation
• Creation of digital twin allows for analysis of the
operation of the machine without needing to operate a
real one
• Control strategies can be integrated directly into the
model
• Model can be used as a test bed for dynamic stability
and motion planning algorithms
3D MODEL
Created a 3D model of the machine based on a real
Tigercat L855E feller buncher
• Used Solidworks to accurately trace out the shapes of
each part (cabin, end effector, etc.)
• Added materials and textures for aesthetic purposes in
Blender
F U T U R E W O R K
• Incorporate a real forest into model from data set
containing information on a natural forest in
Petawawa, Ontario
• Implement realistic tree models using the method of
solids of revolution and theory on moments of inertia
• Integrate dynamic stability and motion planning
algorithms into virtual machine
VIRTUAL MACHINE
Developed virtual machine in the Vortex physics engine
• Configured inertial properties of machine parts (mass,
center of mass, inertia matrix)
• Implemented realistic track system, hydrostatic
transmission and hydraulics system
• Derived and implemented arm inverse kinematics for
velocity based control of end effector using joystick
ሶ𝑝1 =𝑑1ℎ1 sin 𝜃1 + 𝛼
𝑝1ሶ𝜃1 ሶ𝑝2 = −
𝑑2ℎ2 sin 𝜃2𝑝2
ሶ𝜃2 ሶ𝑝3 =𝑑3ℎ3 sin 180° − 𝛽 − 𝜃3
𝑝3ሶ𝜃3
Fig. 1: L855E Tigercat feller buncher in operation
Fig. 2: Slideshow of L855E Tigercat feller buncher model
Fig. 3: Arm inverse kinematics diagram
I would like to express my sincere gratitude to Professor Inna Sharf for her guidance throughout the project, for inviting to the NCRN AGM & Trials 2019 and for giving me the opportunity to interact with many students and experts in the engineering disciplines.
REFERENCESZhu, M. (1994). Master-slave force-reflecting resolved motion control of hydraulic mobile machines (Doctoral dissertation, University of British Columbia).Lynch, T. B. (2012). On Moments of Inertia for Logs and Tree Segments. Forest Science, 58(4), 399-404.
Fig. 4: Real-time tracking of end effector (a) position and (b) velocity in world inertial frame
Simulation Time (s)
(a)
(b)
End E
ffecto
r W
orl
d P
ositio
n (
m)
End E
ffecto
r Absolu
te V
elo
city (
m/s
)
PartMass (kg)
Joint-to-Joint Length(mm)
Cabin 5000 -
Boom 2000 3268
Stick 1000 3279
End Effector
2600 -
Table 1: Machine parameters
Many thanks to Francis Charette and UdayalakshmiVepakomma at FPInnovations for their invaluable partnership and help in the forestry projects. I would also like to thank Marek Teichmann and Andreas Enzenhofer at CMLabs for their readily available support with the Vortex Studio software.
ACKNOWLEDGEMENTS
Eq. 1: Boom piston velocity as a function of boom angle
Eq. 2: Stick piston velocity as a function of stick angle
Eq. 3: End effector piston velocity as a function of end effector angle
X-AxisY-AxisZ-Axis
}Ground