Simulation Study on a Controllable Mechanism Type Novel Planar 3-DOF Mechanical Excavator
This paper introduces a simulation study on the executive mechanism of a recent invented controllable mechanism type novel planar 3-DOF mechanical excavator using simulation analysis software MSC.ADAMS. A virtual prototype model is established first, based on which the forward kinematics simulation is carried out employing the DIM functions to achieve an output trajectory similar to the excavating process of a flexible hydraulic excavator. Subsequently, an inverse kinematics simulation is performed accomplishing a given V type output trajectory. Angular displacements, velocities and accelerations of the three input variables are obtained. Results of the simulation study may provide some useful references for further researches such as dimensional synthesis, dynamics and design of the controller of the new type of mechanical excavator.
Xiaodong Zhang, Zhijiu Ai, Prasad Yarlagadda and Yun-Hae Kim
Y. C. Pan et al., "Simulation Study on a Controllable Mechanism Type Novel Planar 3-DOF Mechanical Excavator", Advanced Materials Research, Vol. 338, pp. 754-757, 2011