Dynamic modelling of hydraulic excavator motion using Kane's equations

作者：Salinic S^*; Boskovic G; Nikolic M

来源：Automation in Construction, 2014, 44: 56-62.

DOI：10.1016/j.autcon.2014.03.024

• Hydraulic excavator
• Dynamics
• Multibody
• Deformable soil foundation

This paper presents differential equations of motion of a hydraulic excavator in the form of Kane's equations. The equations proposed allow studying the excavator dynamics in the digging, lifting and unloading transport operations. 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.

• 出版日期2014-8