Dynamical modelling of hydraulic excavator considered as a multibody system

dc.contributor.authorMitrev, Rosen
dc.contributor.authorJanošević, Dragoslav
dc.contributor.authorMarinković, Dragan
dc.date.accessioned2017-11-09T14:09:12Z
dc.date.available2017-11-09T14:09:12Z
dc.date.issued2017
dc.description.abstractThis paper considers the development of a plane multibody mechanical model of a hydraulic excavator simultaneously containing an open kinematic chain and closed loops. The Lagrange multiplier technique is used for modelling of the constrained mechanical systems. This approach is used for working out the dynamic equations of excavator motion in the case of performing transportation and digging operations. The excavator is considered as a rigid body system and detailed governing equations of the mechanical and hydraulic systems are presented. The performed verification and a typical digging task simulation show the applicability of the model for study of the excavator motion simulation. Simulation results of the machine’s response are provided. It is shown that the digging process considerably influences the mechanical and hydraulic system parameters. Such models can be used for training simulators, sizing components and system design.en
dc.description.sponsorshipDFG, 325093850, Open Access Publizieren 2017 - 2018 / Technische Universität Berlinde
dc.identifier.eissn1848-6339
dc.identifier.issn1330-3651
dc.identifier.urihttps://depositonce.tu-berlin.de//handle/11303/7107
dc.identifier.urihttp://dx.doi.org/10.14279/depositonce-6413
dc.language.isoenen
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/en
dc.subject.ddc620 Ingenieurwissenschaften und zugeordnete Tätigkeitende
dc.subject.otherhydraulic excavatoren
dc.subject.otherLagrange multiplieren
dc.subject.othermultibody dynamical modelen
dc.titleDynamical modelling of hydraulic excavator considered as a multibody systemen
dc.typeArticleen
dc.type.versionpublishedVersionen
dcterms.bibliographicCitation.doi10.17559/TV-20151215150306en
dcterms.bibliographicCitation.issueSuppl. 2en
dcterms.bibliographicCitation.journaltitleTechnical Gazetteen
dcterms.bibliographicCitation.originalpublishernameStrojarski fakulteten
dcterms.bibliographicCitation.originalpublisherplaceSlavonski Broden
dcterms.bibliographicCitation.pageend338en
dcterms.bibliographicCitation.pagestart327en
dcterms.bibliographicCitation.volume24en
tub.accessrights.dnbfreeen
tub.affiliationFak. 5 Verkehrs- und Maschinensysteme>Inst. Mechanik>FG Strukturmechanik und Strukturberechnungde
tub.affiliation.facultyFak. 5 Verkehrs- und Maschinensystemede
tub.affiliation.groupFG Strukturmechanik und Strukturberechnungde
tub.affiliation.instituteInst. Mechanikde
tub.publisher.universityorinstitutionTechnische Universität Berlinen
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