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ANALYSIS OF THE ENERGY PARAMETERS OF HYDRAULIC EXCAVATOR

METHOD OF DYNAMIC SIMULATION
Dragoslav JANOŠEVIĆ, Boban ANĐELKOVIĆ, Nikola PETROVIĆ, Vesna NIKOLIĆ
Faculty of Mechanical Engineering, University of Nis, A.Medvedeva 14, Nis, Serbia
janos@masfak.ni.ac.rs, bandjel@masfak.ni.ac.rs, petrovic.nikola@masfak.ni.ac.rs, ansev83@yahoo.com

Abstract: The hydraulic excavators have a lot of different manipulation tasks in their working area. This
variety appears as a problem at synthesis of driving mechanism of excavators. For resolving of this
remarkable problem it has been developed a method to define with reliability the necessary driving
torque as well power of driving mechanisms by means of the procedure of dynamic (temporal) and static
(spacious) simulation of excavator.

Key words: mathematical model, simulation, driving moments, power dynamic factor

1. INTRODUCTION driving moments and power in joints of excavator

kinematics chain in base of which, further is carried out
Hydraulic excavators are a complex machine system the synthesis of driving mechanisms.
whose primary function is a cyclical digging and moving
of land of certain category in variable working ambient. 2. MATHEMATICAL MODEL OF
The hydraulic excavator achieved their primary function EXCAVATOR
by structural material, which generally consists of: sub-
system for land moving, sub-system for energy transfer, For time simulation proceeding it has been used the
sub-system for signal transfer. mathematical model of excavator based on general theorems
Sub-system for land moving represents the kinematics chain of mechanics, e.g. on Newton-Euler dynamics equations.
of common configuration excavators composed from: thrust- Mathematical model is including the physical model of
motional segment (1) (fig. 1a), rotary segment (2) and excavator of common configuration with chain segments
manipulator segments: boom (3), arm (4), and bucket (5). which are forming the kinematics pair – joints of fifth
Sub-system for energy transfer of excavator is a hydro- class (fig. 1b). The bearing segments of excavator with
static system with executive segments – actuators: hydro- support make the non-controlled zero joint of third class.
cylinders and hydro motors. The suppositions of mathematical model of excavators are
Hydrostatic actuators linked, directly and indirectly, with as follows: support and excavator kinematics chain
segments of kinematics chain make the driving segments are modeled by means of rigid bodies; during
mechanisms of excavators. the possible displacement of zero joint does not appear;
The bases for driving mechanisms synthesis are: the kinematics chain of excavator is one of a closed
parameters of excavator functions, the parameters of configuration, during of digging operation when it has a
kinematics chain segments and hydrostatic system closed shape, it is observed as a chain of opened
pressure. configuration, on whose latest segment – bucket, make
To the group of function parameters belong: trajectory, G G
action the force ( W ) moment ( M w ) of resistance to
time and resistance to motion of singular operation of
manipulative task of excavator. digging.
The work of hydraulic excavators is characterized by the Space of excavator model is determined by absolutely
cyclical manipulative tasks and same operations like as: coordinate system OXYZ.
digging, moving and unloading of land. However, the Chain segment (Li) is determined in his local coordinate
operations have different parameters at every cycle, so system (Oixiyizi) by a group of kinematics and dynamics
that the driving mechanism could not be determined with values:
reliability in base of one or some characteristic
manipulative tasks. {
G G G 
Li = ei , si , ti , mi , J i } (1)
For completely analyze and following of excavator G G
parameters are established the procedures: (a) depending where: ei - ort join axis (Oi), si - vector of position joint
G
on time of duration of manipulative task (time-dynamic
center (Oi+1) referring to the joint (Oi), ti - vector of
simulation), (b) depending on position of kinematics 
chain of excavator in whole working area (space-static position of mass center (mi), J i - tensor of inertia moment
simulation). of segment (Li). The values of segment marked with “are”
The time simulation represents the direct procedure of above the mark are defined in a local coordinate system.
excavator dynamics, when are determined the requested For the translation of vector values from one coordinate

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system in other or from one local system in absolute and 3. SIMULATIONS

vice versa, are established the transitional patterns:
G G G G G G For determining of simulation proceeding, beside of
(ii , i j ) ( ji , i j ) ( ki , i j ) established mathematical model of excavator, also are
G G G G G G
Aij = (ii , j j ) ( ji , j j ) ( ki , j j ) ; A ji = AijT (2) defined the parameters of manipulative task: trajectory,
G G G G G G time and resistance to motion.
(ii , k j ) ( ji , k j ) ( ki , k j )
The trajectory of manipulation task is determined in the
G G G chosen plain of digging with outer coordinates of desired
where: i , j ,k - unit vector of coordinate system Oixiyizi.
i i i highest depth of digging and in plain of unloading with
Geometric values of model are represented by vectors of outer coordinates of desired height of unloading. In base
G G of requested outer coordinates can be determined the
joints center ( ri ), mass center ( rti ) of chain segments and
G inner coordinate of kinematics chain position and range of
cutting edge center of bucket ( rw ):
motion of every segment for relative operation.
G i −1 G G Time of duration of manipulation task is determined
ri = ∑ A jo s j ∀ i = 2,3,4,5; r1 = 0 depending on desired efficiency and circumstances of
j =1

G excavator’s work. Referring to the total time of

G 5
rw = ∑ Ajo s j (3) manipulation task, for each segment of chain and for each
j =1 operation are requested the time of phase of operation
G G G beginning and termination as well as intermediary times
rti = ri + Aio ti
which determine the character of modification of angular
G speed of segment-executor of operation.
The kinematics values are determined by angular ( ωi )
G G The resistance to digging during the manipulation task are
and linear ( vi ) speed and by angular ( ε i ) and linear appeared as an inner (gravitational and dynamic) and
G
acceleration ( wi ) of segment mass center (Li), (fig. 1c): outer (technological) loading in the form of resistance to
G G G digging.
ωi = ωi − + θi ei 1
(4) For excavator driving mechanism synthesis, when are
necessary the power parameters of digging process, the
G G G G
[ G
εi = εi −1 + θi ei + ωi −1 , θ i ei ] (5) resistance to digging is modeled depending on piece
sheared off and physical-mechanical characteristic of
G G G
vi = vi −1 + [ωi −1 , si −1 − ti −1 ] + [ωi , ti ]
G G G G land, by means of equation:
(6)
G G W = kk ⋅ b ⋅ h ⋅ ξ
wi = wi −1 + [εi −1 , si −1 − ti −1 ] + [ωi −1 [ωi −1 , si −1 − ti −1 ]]
G G G G G G G (11)
G G G G G
+ [εi , ti ] + [ωi , [ωi , ti ]]
(7) where: k – specific resistance to land digging; b – width
of piece sheared off, h – thickness of land piece sheared
off, ξ – factor of correction of digging parameters which
where: θi ,θi - are angular speed and segment acceleration
exercises an influence on non homogeneity of land.
(Li) in joint (Oi). The thickness modification of piece sheared off is defined
G
Dynamic values are represented by inertial force ( Fi ), defined for digging kinematics: (a) by bucket moving only and (b)
by means of other Newton law and moment of inertial force by moving of bucket and arm of manipulator.
G In base of established mathematical models it has been
( M i ), defined b means of Euler’s dynamic equations: developed a program for numeric simulation of excavator
G G by means of computer.
Fi = −mi wi (8) The program make also available, to follow: excavator
G  G G  G
M i = − J i ε i + ωi , J iωi [ ] (9) position (fig. 2a), angular speed changes (fig 2b), requested
driving moments (fig. 2c) and power (fig. 2d) in the joints of
From the circumstances of equilibrium of separated excavator kinematics chain during manipulative task.
G The shown diagram are achieved by simulation of
segment (Li) could be defined the force ( Fri ) and moment
G calculated excavator model of mass of 16000 kg with
( M ri ) in the joint (Oi) by means of equations (fig.1d): bucket volume of 0.6 m3 at different characters of
G G G G G modification of angular speed of singular chain segments
Fri = Fr i+1 − Fui , Fn+1 = Ww during the same manipulative task. Diagrams (fig.2c)
G G G G
[ G G
] [ G
]
M ri = M ri + 1 + s i , Fri + 1 − t i , Fui − M ui
G G
(10)
represent the necessary driving moments at static ( M ois )

M n +1 = M w and dynamic ( M oid ) simulation, in the joint of boom (i=3),

arm (i=4) and bucket (i=5) of manipulator.
The necessary driving moment (Mpi) and requested power It is noticeable the dynamic influence created at beginning
(Npi) in the joint (Oi) of kinematics chain of excavator are and termination of land moving, especially at requested
defined by means of equations: driving moment of boom. The achieved results by
G G numerical simulation of excavator are completely
M pi = (ei , M ri ) = M rzi satisfactory referring to the results achieved by means of
(11) taking measures on real excavator model in relative
N = θ ⋅ M
pi i pi
working circumstances.

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а)
Y L3 x3
y2
y3
y4
L2 L4
x5 L5 x3
O4
x2 t4
L3 m4,J4
Z x4 y5
O L1 x1 X θ4 s4 L5
m3,J3

t3 L4
s3 t5 m5,J5 W
Y y3 θ3 Mw
L2
y2 O5
O3 s5 θw
m2,J2 rt5
y1 r5 O
x5
t2 e2 s2 rw θ5
x2
rt2 O2
L1 y5
m1,J1
s1 x4
t1 X
x1
O O1 x5

b)

m2,J2
x1
O
O2
X
s2 θ2
O3
e3
z1 z5
z2 z3 x2
Z O4
εi xi e4
ωi Oi+ x3 O5
ωi-1 z4 e5 Mw
si x4
εi-1 W
Li-1 ti θi
wi Ow
Oi z5
ti-1 si-1 vi x5
ei Li xi-1
Oi-
vi-1 wi-1 θ
i
yi
c) θi zi xi
Mryi Mu -Mri+1
-Mri+1 x Li
Mui i Fryi
yi si Oi+ -Fri+1
Li ti
si -Fri+1 Mri Fui
Oi+
Mri ti Fri
Fui
Mrxi
Frxi Oi ei
Fri d) Frzi
Oi ei Mrzi
-xi
zi zi
Fig.1. Models kinematic chain excavators a) physical model, b) mathematics model, c) kinematic of chain part
d) dynamics of chain part

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the proceeding of excavator simulation, in the way that it

gives rapidly and reliably the complete analysis of loading
Mo2 ,θ2 Y L3 of mechanism using the computer, for whole working
a)
z4 area of excavator, with dynamic influence arising at
y2 motion of singular segments of kinematics chain of
Mo3 ,θ3 Mo4 ,θ4 θ5 excavator during the manipulative task.
L4
L2 z3 M ,θ
o5 5
ACKNOWLEDGMENT
L1 θ z5
L5 This paper is financially supported by the Ministry of
Z X Science and Technological Development of Republic of
θi θ31 θ21 Serbia, Project Nr. 14068. This support is gratefully
acknowledged.
θ32
θ22
REFERENCES
θ4
θ4 [1] VUKOBRATOVIC, M. Applied dynamics of
digging θ 5 transfer discharge manipulation bots, Book 1st, Technical book, Belgrade
b) [2] JANOSEVIC, D. (1997) Optimal synthesis of the
drives hydraulic excavators, PhD thesis, Faculty of
Mechanical Engineering, University of Nis
[3] ВОЛКОВ, Д.П., КРИКУН, В.Я., ТОТОЛИН, П.Е.,
Moi ГАЕВСКАЯ, К.С., НИКУЛИН, П.Н. (1992) Машины
(Nm) Mo4 для земляных работ, Машиностроение, Moscow
Mo3 [4] JANOSEVIC, D. (1997) Modeling and simulation of
hydraulic excavators, IMK-14 Research and
Development, Vol.9, No. 1-2, pp 25-32
Mo5 [5] JANOSEVIC, D., JEVTIC, V. (1998) Numeric
simulation of hydraulic excavators, XV ECPD
Mo4 ICMHW, Belgrade.
Mo3s
[6] STEPANENKO, J.A. (1974) Динамика
c) Mo3 Mo3d пространствених механизмов, Serbian Academy of
Arts and Sciences, Mathematical Institute, Belgrade.
N [7] JANOSEVIC, D. (2002) Dynamic stability analysis
(W) of hydraulic excavators, IMK-14 Research and
Development, Vol.8, No. 1-2, pp 7-12
[8] HEDRIH (STEVANOVIC), K., JANOSEVIC, D.
N (1993) Dynamic stability of hydraulic excavators,
The First International Scientific Conference ''Heavy
Machinery'' Krusevac - Vrnjacka banja
[9] HOLZNJEIBIG, F., DRESIG, H. Lehrbuch der
d) Machinen-dynamik, VEB Fachbuchverlag.

Fig.2. Results of the simulation of hydraulic excavator:

а) physical model and the position of kinematic chains, b)
angular velocity changes of kinematic chains parts of
excavator, c) static Mois and dynamic Moid moments loads
of power mechanisms: Mo3 - boom, Mo4 - arm and Mo5 –
bucket of manipulator excavator, g) power requirement N
excavators during manipulation task

4. CONCLUSION
For optimal analyze of excavator driving mechanism it is
necessary to determine adequate loading that these
mechanisms must overcome during the work. Considering
the working circumstances of excavator, characterized by
many different manipulative task, it is unreliable to carry
out analyze of loading only for same so called
“characteristic” positions. For that reason it is developed

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