Kinematics Analysis And Dynamics Research Of A New Hybrid Backhoe Digging Mechanism

Excavator is a common engineering machinery, mainly used for various kinds of earthwork construction. At present the common single bucket excavator are hydraulic excavator and traditional single DOF mechanical excavators. However, the cost of hydraulic excavator is high, the assembly and manufacture is difficult, its maintenance is difficult and needs high technology, the hydraulic oil is affected by temperature, its total efficiency is low, sometimes there is noise and vibration. The traditional single DOF mechanical excavator, known as Electric Shovel, can only implement simple output and cannot change the trajectory of the output, its application field is narrow.According to the above problem, this paper proposes a new hybrid backhoe excavator. The new hybrid backhoe excavator uses new linkage instead of hydraulic drive, it simplifies the connecting rod transmission part, it is flexible and quick, and we use simple connecting rod transmission part, the support frame connected to the big arm, so the rod and the joint’s force is better, work space is bigger. In order to optimize connecting dimensions, choose the right motor, design the chassis and build physical prototype, we mainly research the kinematics and dynamics of this digging mechanism. In this paper, the specific work is:(1) this paper designs the new excavator digging mechanism.3d model is established by Pro/E, we introduce the structure and characteristics of this organization, then we analyze the operation process of the mechanism.(2) we use screw theory to calculate its degrees of freedom, use the method of constraint equation and the closed-loop vector to get mechanism position’s positive and inverse solution, then numerical analysis, we also carry out the research of velocity and acceleration.(3) based on it, we analysis the mechanism’s singularity and workspace boundary condition, translate instantaneous inertial force system into the static by dynamic statics method, establish dynamic statics model of the agency.(4) above all, use Adams to establish virtual prototype model, analyze the kinematics and dynamics simulation.