Dynamic Simulation And Optimization Of Hydraulic Excavator Working Device Driven By Real Load

Hydraulic excavator,as a typical representative of construction machinery,not only performs prominently in ordinary mining operations,but also plays a unique role in some special construction conditions.The working device is a key component of the hydraulic excavator.Its kinematics and dynamics characters have a crucial influence on the excavator's performance.Therefore,the kinematics,dynamics analysis and optimization of the working device are important for hydraulic excavator design.Previous research has been done by virtual prototyping to simulate and analyze the performance of the excavator.But it's hard to evaluate the results without real experimental data.In this paper,based on the experimental data of the hydraulic excavator in actual mining process,the dynamic simulation and optimization of working device are carried out with real load drive.The specific content is as follows:Firstly,the mathematical model of kinematics and dynamics of the hydraulic excavator are established.The 3D model is built in Pro/E and then the virtual prototype model is built in ADAMS.The envelope diagram of working device is draw and the main working parameters are compared with the factory value to evaluate the validity of the virtual prototype mode.Based on displacement and pressure data of hydraulic cylinder from real excavation experiment,kinematics and dynamics simulation of hydraulic excavator are carried out.The displacement and stress of each hinge of the working device are obtained and compared with the theoretical value.The results show that the kinematic and dynamic simulation of the hydraulic excavator based on the real load can truly reflect the motion and force of the excavator during actual operation.Secondly,in order to improve the performance of hydraulic excavator with minimized change the optimization model of working device is set up to improve the maximum theoretical excavation force of the rod and bucket,and then genetic algorithm are adopted to solve the global optimization problem.The main operation size and digging force before and after optimization of the excavator are compared by using the virtual prototype,and stress and deformation are compared by finite element analysis in ANSYS.The results show that the optimization of working device can effectively improve the digging force of the whole machine.Finally,a special simulation module is developed for hydraulic excavator in ADAMS/View.It has friendly interface and easy to use.It is convenient for users to carry out kinematics and dynamics simulation and design of hydraulic excavator virtual prototype.