Abstract
The problems of kinematic and force analysis of the mechanical excavating part of the (actuator) drive in the mechatronic control system of the trencher rotor position are considered. Analytical expressions that represent a solution for the inverse and direct problems of the lever mechanism kinematics of the rotor drive are obtained. The inverse kinematic problem makes it possible to control the position of the excavating part by an indirect parameter that is the position of the control cylinder rod as well as to evaluate the correctness of the kinematic parameters selection for the mechanical drive and their compatibility with the design parameters of actuator hydraulic cylinders. Based on the direct kinematics problem solution, the analysis of the kinematic error of the trencher rotor control system is conducted. The obtained value of the load on the control cylinder rod can be used for a mathematical description of the entire system operation, as well as for the evaluation and calculation of drive hydraulic parameters.
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