Dynamic analysis of an excavator manipulator by experimental data

실험결과를 이용한 굴삭기 작업장치부의 동역학 해석

This paper presents the inverse dynamic analysis of the hydraulic excavator manipulator based on the experimental data. A three dimensional rigid multi-body model of the hydraulic excavator manipulator was built up. Inverse dynamic analysis for typical operation mode was carried out by the ADAMS program. In order to verify the analysis results with the measured, the hydraulic pressure and displacement of the cylinders were measured and the dynamic analysis was carried out using experimental data. From the results of the cylinder driving forces, good agreements are obtained between the analysis and the measurement.