Modeling And Simulation Analysis Of Excavator Working Device Considering The Crawler

As the most important constructional equipment,hydraulic backhoe excavator is widely used in bridges,roads,water conservancy and other fields.During the working process,the working device is the main forcing component,and the dynamic characteristics have a great influence on its safety and reliability.Recent research mostly focuses on the dynamic characteristics of the working device.However,in the actual working,because the ground has a certain effect of absorbing vibration,the dynamic characteristics of the excavator working device are affected by the interaction between the ground and the track,thereby affecting its safety and reliability.Therefore,modeling and simulation analysis of excavator working device considering the crawler modeling and simulation analysis of excavator working device considering the crawler has important significance for the research on the safety and reliability of the excavator.On the above issues,based on the excavator working device model,this dissertation proposes to establish an excavator model that considers the impact of the crawler,which makes the analysis of the dynamic characteristics of the working device more consistent with the actual working process;at the same time,based on the model,numerical calculation,simulation analysis and experimental study on the motion and force of the hinge of the working device of excavator are carried out.The above analysis and research results provide a more reasonable basis for structural design and fatigue analysis of excavators.The specific research content is as follows:Firstly,the kinematics mathematical model of the excavator working device is established by using the odd coordinate changes method of Denavit-Hartenberg.The function expressions of the displacement,velocity and acceleration of each hinge point of the excavator working device are obtained,The kinematics analysis of the three components(boom,stick,and bucket)of the working device was performed through the geometric method.The dynamic model of excavator working device was established by using the Lagrange method,and the force expression of each hinge point was obtained.In order to establish an excavator model that considers the impact of tracks,a crawler-ground model of the excavator was built using RecurDyn software,and an excavator model was established in combination with the established working device simulation model.Based on the above model,the working process is simulated and the excavation envelope curve of the working device is obtained.By calculating the error between the values of the excavator working parameters(maximum excavation height,excavation radius,and unloading height of the working device)included in the diagram and the actual given factory values,the correctness of the whole excavator model considering the track is verified.Finally,through the simulation analysis and experimental research of this model,it is proved that the existence of the track-ground system has a significant impact on the force of each hinge point of the excavator working device,the closer the hinge point is to the track,the more obvious is the force change,that is,the force at the hinge point of the arm and the frame changes greatly,and the force at the hinge point of the arm and the bucket changes second.In this dissertation,based on considering the impact of tracks,a more complete excavator model is established.Through numerical calculation,simulation and experiment,a more reasonable research on the movement and force of the working device during the excavator's working is carried out...