Dynamic modelling of a vibratory asphalt compactor and estimation of contact forces wrench

This paper deals with the dynamic modelling of a vibratory asphalt compactor. A compactor is a machine of road building site. Its task is to increase the density of the asphalt. The aim of the study is to measure contact forces wrenches between the drums of the compactor and the bituminous mix. These drums vibrate. Traditional techniques of robotics are used to model the compactor as an articulated mechanical system. In order to reach our objective, the dynamic model is limited to the clamp-drum unit. Moreover, this model is adapted to our system of measurements by replacing some lagrangian variables by some Euler variables. In this manner, it is proved that it is possible to get the contact forces wrench. During a real worksite, it has been possible for the first time to measure the contact forces applied by a compactor.