Dynamic modeling of hydraulic shovel excavators for geomaterials

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DOIResolve DOI: http://doi.org/10.1061/(ASCE)1532-3641(2008)8:1(20)
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Journal titleInternational Journal of Geomechanics
Pages2029; # of pages: 10
Subjectexcavation, mining, simulation models, numerical models, geomaterials, hydraulics
AbstractIn this paper, the Newton-Euler techniques are used to develop hydraulic shovel dynamic models with numerical examples. Detailed analysis of the results shows that: (1) the kinematics of the stick-bucket joint (joint 3) is the most critical and effective control of this joint and is important input into efficient excavation design and execution; and (2) the highest resistive moments occur between the duration of 1.5 and 2.0 s after the start of formation excavation and the highest magnitudes are 1,500 Nm (for stick), 900 Nm (for bucket), and 600 Nm (for boom). Based on these results, the path trajectories, dynamic velocity and acceleration profiles, and dimensioned parameters for optimum feed force, torques, and momentum of shovel boom-bucket assembly can be modeled and used for efficient excavation. The optimum digging forces and resistances for the hydraulic shovel excavator can also be modeled and used to predict optimum excavation performance.
Publication date
AffiliationNRC Institute for Research in Construction; National Research Council Canada
Peer reviewedYes
NRC number51123
NPARC number20377371
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Record identifiere14b0427-87e5-4cbc-bb0c-4b7091f16a69
Record created2012-07-24
Record modified2016-05-09
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