Selecting an approach to calculate the excavation forces and the loads exerted on the components of the hydraulic excavator's working equipment.

Abstract

It is known that hydraulic excavators are multifunctional earthmoving machines consisting of an arrow, a handle and a bucket.

The excavator operates on the principle of hydraulic fluid with a hydraulic cylinder and hydraulic motors. It is important to note that the operation of a hydraulic excavator requires coordinated movement of the boom, handle and bucket to control the position of the bucket tip along the desired trajectory. Thus, it contributes to the effective use of the machine in the dark, in the worst working conditions, in severe weather, in a dangerous or unhealthy environment, and even in the territories of natural disasters.

Hydraulic excavator control is possible provided you understand the kinematics and dynamics of the excavator machine. To achieve this goal, this article presents various calculation methods related to the kinematics of an excavator machine, which are useful when performing its kinematic modeling. Which in turn contributes to understanding the behavior and improving the performance of a hydraulic excavator.