Original scientific paper

https://doi.org/10.17559/TV-20151215150306

Dynamical modelling of hydraulic excavator considered as a multibody system

Rosen Mitrev orcid.org/0000-0001-6276-1225 ; Technical University-Sofia, Faculty of Mechanical Engineering, Kliment Ohridski blvd. 14, Sofia, Bulgaria
Dragoslav Janošević ; University of Niš, Faculty of Mechanical Engineering, A. Medvedeva 14, 18000 Niš, Serbia
Dragan Marinković orcid.org/0000-0002-3583-9434 ; Technische Universität Berlin; Institut für Mechanik, FG Strukturmechanik und Strukturberechnung, Straße des 17. Juni 135, 10623 Berlin, Germany

Abstract

This paper considers the development of a plane multibody mechanical model of a hydraulic excavator simultaneously containing an open kinematic chain and closed loops. The Lagrange multiplier technique is used for modelling of the constrained mechanical systems. This approach is used for working out the dynamic equations of excavator motion in the case of performing transportation and digging operations. The excavator is considered as a rigid body system and detailed governing equations of the mechanical and hydraulic systems are presented. The performed verification and a typical digging task simulation show the applicability of the model for study of the excavator motion simulation. Simulation results of the machine’s response are provided. It is shown that the digging process considerably influences the mechanical and hydraulic system parameters. Such models can be used for training simulators, sizing components and system design.

Keywords

hydraulic excavator; Lagrange multiplier; multibody dynamical model

Hrčak ID:

186072

URI

https://hrcak.srce.hr/186072

Publication date:

2.9.2017.

Article data in other languages: croatian

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