Kinematics and dynamics analyses of a new type face-shovel hydraulic excavator

Abstract

The large face-shovel hydraulic excavator is one of the significant tools in mining, and widening its range of excavating and increasing its excavating force have been an important research trend. To realize that, this paper proposes a new type face-shovel hydraulic excavator which uses stick rockers and boom linkages to effectively increase the thrust and piston travel of stick hydraulic cylinders, with analyses of its kinematic and dynamic characteristics. The structure and constructional dimensions of the excavator are presented in detail. Based on the graphical modularization and the loop algebra theory, the forward and inverse kinematics as well as the workspace is examined, after which velocities and accelerations are analyzed. The dynamic mathematical model of the excavator is developed using Kane’s equations and the equivalence principle, and it is tested through the MATLAB simulations, with a comparison with those by ADAMS. It is concluded that with the new-type face-shovel hydraulic excavator, the excavating range can be broadened and the excavating force can be raised.