Theoretical Study And Simulation Analysis Of A Novel Backhoe Excavator With Multi-Freedom Controllable Mechanism

In recent years, with the growing of engineering construction’s working range and the changing of working environment and complexity of the construction content, the requirements of construction machinery’s reliability, safety, economy, functionality and environmental protection is more and more strict. Excavator is a common kind of construction machinery, traditional mechanical excavator is single degree of freedom, which has low flexibility and simplistic function, and hydraulic excavator generally uses diesel engine as a power source, whose construction produces noise and waster gas can be harm to the environment, and the cost of manufacturing hydraulic component and repairing is quite high. In order to solve the shortcomings of the traditional mechanical excavator and hydraulic excavator, according to controllable mechanism theory designing a backhoe excavator with multi-freedom controllable mechanism, and studying its theoretical analysis.The main working contents are as following:(1)Based on the analysis on hydraulic backhoe excavator’s working condition and performance, propose the requirement about configuration and performance of backhoe excavator with controllable, then design a novel backhoe excavating mechanism with multi-freedom controllable mechanism and do optimization and draw the 3D model of the mechanism.(2)Use the closed ring method to build the mechanical kinematic model, then use Newton-Raphson method to simulate its forward and inverse position and use elimination method to simulate its velocity and acceleration, at last according to working requirement to dimensional synthesis of the mechanism’s main components.(3)Solve the Jacobian array of each closed ring in the mechanism, then get singular configuration of each closed ring, then according to digging enveloping drawing of hydraulic excavator to put forward the method of digging enveloping drawing of controllable excavating mechanism, at last Use MATLAB to draw the digging enveloping drawing and get the main working parameters’curves.(4)According to the configuration characteristic and working character, put forward the declare of force model, and according to the mechanism sketch, solve the each component’s centroid position, velocity and acceleration, then according D’Alembert’s principle use dynamic statics method to analysis each component’s kinetics, at last predict the servo motor’s input power.(5)Use Creo2.0 and ADAMS to build virtual prototype model, then add initial position, component material, driving function, external force and gravity to simulate the forward and inverse kinetics and the dynamic of the model, at last use the measurement tool to get the needed parameters.