Dynamics Model of Backhoe Devices Considering Excavation Load for Hydraulic Excavators

Abstract

This paper presents a new dynamic model of backhoe devices considering excavation load so as to study the dynamic characteristics when the backhoe device is excavating. The dynamic model for the backhoe device was derived in matrix form by using Lagrange equation. The program of fourth-order Runge-Kutta method was coded in MatLab software so as to solve the dynamic model. Then taking composite excavation conditions as examples, The proposed dynamic model was used to calculate the counterforce of the kinematic pairs at all hinge points and solved the rotational movement laws (such as angular displacement, angular velocity, etc.) of the main components of backhoe devices around their rotary axes. In order to verify the correctness of the dynamic model, experiments of composite excavation conditions were done by using an XG822FL excavator, and the results of the experiment demonstrated that the proposed dynamic model is correct and effective to calculate the counterforce of kinematic pairs and solve the rotary movement laws of main components during the course of excavation, which can be used to predict the counterforce of kinematic pairs during the design process of backhoe device.