Novel Digging Force Calculation Method for Hydraulic Excavator

Abstract:

A new method for the researching of the theoretical digging forces and its regularities of distribution was presented based on the workspace and digging points. The spatial position of digging points was calculated first, the digging gestures corresponding to each digging point were solved by the inverse kinematics principle. The theoretical digging forces of each digging gesture were calculated according to the relevant limit equations. A case study of a 36 t backhoe hydraulic excavator proved the hypothesis that the theoretical digging forces, corresponding to two adjacent digging points or two similar digging gestures, be similar. The calculation results show that the theoretical digging forces obtained by the new approach are improved obviously (>20.2%). The experimental result proves that the new approach reflects the maximum digging force of the backhoe hydraulic excavator more accurately at the given digging point.