Oct 07, 2017 · This work deals with analysis of dynamic behaviour of hydraulic excavator on the basis of developed dynamic-mathematical model. The mathematical model with maximum five degrees of freedom is extended by new generalized coordinate which represents rotation around transversal main central axis of inertia of undercarriage. The excavator is described by a …
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Dynamical modelling of the excavators is crucial for designers of the mechanical and hydraulic systems as it enables reduction of prototyping costs and a better insight into the mechanical …
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B. The dynamic model of manipulator Fig.4 shows a schematic representation of the manipulator of hydraulic excavator with the assigned variablesθ2, θ3 and θ4 for the boom, dipper and bucket joint angles, respectively. The cab swing angle (θ1) is not shown in this figure, as it is not considered in this study.
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A straightforward approach for modeling a hydraulic actuator is to construct a quasi-static 1 map from the steady-state velocity to the actuator force. The force–velocity maps can be derived from the balance between the flowrate and pressure at the valves, depending on the valve openings.
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mini excavator they invented for static and dynamic movement. In their design, they used solenoid control valves for each working element. The process of dynamically modelling excavator is used to determine the behavior of hydraulic cylinders under loads and the elastic deformations of the arms.
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coupling the MSC.ADAMS mechanical dynamic model of the excavator and the Ordinary Differential Equation's hydraulic system model, and then simulating the overall model on SIMULINK. Beater and Otter (Beater and Otter, 2003) demonstrated how to model the dynamics of an excavator by modeling the mechanical part using
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The premise of this thesis is to compare valve control and pump control methodologies for excavator boom lift applications. Equations of motion were derived from classical bond graph techniques and simulations were run via AMESIM modeling software.
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Dynamic modelling of hydraulic excavator motion using Kane's equations. The influence of soil foundation deformability is considered. The detailed presentation of the procedure for determination of generalised forces of hydro-cylinders is given. The equations obtained are compared with the similar ones from the literature.
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Jan 01, 2008 · The hydraulic shovel excavator has found significant applications in surface mining, construction, and geotechnical operations due to its flexibility and mobility. The key to high availability and utilization of this shovel is adequate understanding of machine dynamics and machine-formation interactions among other technical, operating, safety
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Although some reliability importance measures and maintenance policies for mechanical products exist in literature, they are rarely investigated with reference to weakest component identification in the design stage and preventive maintenance interval during the life cycle. This paper is mainly study reliability importance measures considering performance and costs …
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a Corresponding author: [email protected] Kinematic and Dynamic Simulation Analysis of Hydraulic Excavator's Working Equipment based on ADAMS Hong Yan YU1, Ming Hai YUAN1,2,a, Kun DENG1 and Rong DONG1 1College of Mechanical and Electrical Engineering, Hohai University, Changzhou 213022, China 2Guangxi Key Laboratory for Manufacturing System and Advanced …
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Aug 01, 2014 · Kane's dynamical equations of the hydraulic excavator. Kane's dynamical equations [12], [13] of the considered hydraulic excavator read: (8) Q j + Q j in = 0, j = 1, …, 4, where Qj and Qjin are, respectively, the generalised active force and the generalised inertia force associated with the generalised coordinate qj.
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Jun 01, 2003 · Abstract This paper investigates the modelling and control of a full-scale excavator vehicle. A detailed analytical model for an unmanned excavator vehicle is developed. The model takes into account the kinematics and dynamics of the mobile platform (vehicle) and the excavation arm (links and hydraulic system). The model describes the dynamic …
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In chapter 4 the hydraulic model will be described. It is divided into two major parts, namely the mathematical model of the spool valve and the mathematical model of the hydraulic cylinders. In both cases we will foremost present a static model which will be followed by the dynamic model in order to derive the corresponding equations of motion.
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B. The dynamic model of manipulator Fig.4 shows a schematic representation of the manipulator of hydraulic excavator with the assigned variablesθ2, θ3 and θ4 for the boom, dipper and bucket joint angles, respectively. The cab swing angle (θ1) is not shown in this figure, as it is not considered in this study.
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The CðhÞF; F load ðF t ; F n Þ in Eq. (13) can be found in reference [3,4]. In order to verify the correctness of the screw-based dynamic model, the simulation parameters in reference [6] are
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The piston and mass load are connected using rigid shaft. Material Simple hydraulic system is used as numerical and geometrical parameters are given in Table 1. example (similarly to Fig.1). Bond graph model of hydraulic system is depicted in Fig.4. Activation of 3-way direction valve is achieved using Actuator.
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The Simscape models of an excavator manipulator were also described in [12-14]. These models were used for the excavator boom, arm and bucket hydraulic actuators dynamics analysis and control to minimize vibrations of the excavator bucket during the excavation works. In [15] in order to investigate the skilled operator behaviour, an
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Aug 24, 2021 · The research did not consider the transient behavior of the pump displacement. Dong et al. presented a design approach for a hydraulic excavator's walking system that considers the communications between the pathway, excavator framework, and hydraulic device. The said model did not study the pump and the motor unit . Xiong et al. had proposed
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digging operation of mini hydraulic excavator. Excavators are used primarily to excavate below the natural surface of the ground on which the machine rests and load it into trucks or tractor. Due to severe working conditions, Figure 1: A Typical Hydraulic Backhoe Excavator conditions, excavator parts are subject to corrosive effects and high loads.
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