Modeling and simulation of a hydraulic excavator

Abstract EN

The key accomplishments of this paper include characterization of hydraulic excavator formation interaction, development of hydraulic excavator kinematics and dynamics, and development of hydraulic excavator simulation models.

The mathematical methods were used to (i) develop excavator's kinematics and dynamics, and (ii) establish the relationship between excavator parameters and the resistive forces from the material formation during excavation process.

The SIMULATION-X simulation environment was used to develop the hydraulic excavator virtual prototypes.

Two numerical examples were included to test the theoretical hypotheses and the obtained results were discussed