Abstract
Basing on studying dynamics of working mechanism of hydraulic excavator, the optimizing structure in design is carried out, and countermeasures are introduced to reduce the bad effects in using hydraulic excavators. In this paper presents dynamic model of working mechanism of hydraulic excavator on base multi - body dynamics. A dynamical model performing a digging operation has been built with 4 degrees of freedom. For simplicity, the dynamic model for the excavator is presented in the digging mode, that is, the rotation angle of the base link is held constant. It follows that the movements of the excavator working mechanism during the digging occur in the vertical plane. The equations of motion are written for each link of the excavator by considering the link as a rigid free body. 3D graphics is applied to develop data set and initial condition for dynamic computating of working mechanism of YAMAR – 25 YB excavator. The computer programs for solving the dynamic differential equations are base on the software MATLAB 7.0. The result are derived the digging trajectory, position, velocity, acceleration, force in hydraulic cylinder, reaction force and moment in each joint
Keywords: hydraulic excavator, working mechanism, multi-body dynamics