Prediction of motion stability of large shovel hydraulic excavators based on ADAMS

doi:10.16265/j.cnki.issn1003-3033.2023.S2.0033

Abstract

Abstract:

In order to improve the controllability and stability of the working device of a large shovel hydraulic excavator, the working device of a 350 t shovel hydraulic excavator was studied. Firstly, the basic structure of the shovel hydraulic excavator was introduced. Based on the D-H method, the forward and inverse kinematics solutions of the working device were solved, and the coordinates of each hinge point of the excavator working device and the displacement and angle change functions of the boom, bucket rod, and bucket cylinders were obtained. Then, the software Matlab was used to verify the displacement and angle function model, and the function change curve was obtained. Finally, SolidWorks and ADAMS were used to establish a virtual prototype of a 350 t large shovel hydraulic excavator. The kinematics simulation of the boom cylinder, bucket rod cylinder, and bucket cylinder of the working device was carried out, and the displacement curve was drawn. The simulation curve obtained by comparative analysis was compared with the function model curve obtained by Matlab. The results show that the displacement function curves of the boom, bucket rod, and bucket cylinder obtained by the D-H method are basically consistent with the simulation curves obtained by ADAMS simulation. The accuracy of the theoretical value and the simulation value is proved.

Key words: shovel hydraulic excavator, boom cylinder, bucket rod cylinder, bucket cylinder, D-H method, automatic dynamic analysis of mechanical systems (ADAMS)

CLC Number:

X936

JIA Feng, SU Honggang, RONG Bao, WEI Zhidan, WEI Lidong. Prediction of motion stability of large shovel hydraulic excavators based on ADAMS[J]. China Safety Science Journal, 2023, 33(S2): 128-134.

Figures/Tables 18

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i	a_i_-1	θ_i
1	0	θ₁
2	OA	θ₂
3	AC	θ₃
4	CE	—

参数名称	取值/ mm	参数名称	取值/ mm	参数名称	取值/ mm
OA	7 867	AB	4 457	OG	4 672
AC	5 088	AH	3 208	AG	3 798
CE	4 581	CH	2 083	EF	4 920
OI	6 947	AI	1 582	CF	1 223

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