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Application of symbolical kinematics for the efficient solution of force workspace of excavators
Author(s) -
Flores Francisco Geu,
Kecskeméthy Andrés,
Pöettker Alois
Publication year - 2007
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200700292
Subject(s) - workspace , excavator , kinematics , shovel , computer science , transformer , kinematic chain , structural engineering , mechanical engineering , engineering , physics , classical mechanics , robot , artificial intelligence , electrical engineering , voltage
This paper describes a method for the efficient determination of maximally allowed shovel forces for a heavy‐load faceshovel excavator through its workspace, based on the concept of “kinematical transformers”. In this concept, each multibody loop is regarded as a transmission element coupled by linear equations with the other multibody loops, allowing an efficient detection of closed‐form kinematical solutions. Additionally, the method uses a graphical optimization approach to find the maximal digging forces for given positions of the shovel. An application‐specific code has been realized using a combination of the object‐oriented multibody library MBILE and symbolical equations. The method is applied to existing heavy‐load excavators, showing that by the use of symbolical kinematics, the computational effort can be reduced substantially. (© 2008 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)