Modeling and Dynamic Analysis of a Mechanical Excavator

摘要

This paper presents a robotic model and dynamic equations of a mechanical excavator based on the robot method. Firstly,according to the WS-005 mechanical excavator configuration and characteristics,a robotic model of this system was presented,by D-H principle. and kinematic equations could be obtained. Under an excavation task,the bucket digging trajectory based on the manipulator characteristics was gotten. Then,considering external forces in contact with the soil during the process,dynamic equations of this system were established by the Lagrange method. The dynamic results are abtained by simulation. whsch can provide a basis for the next intelligent control of the excavator.