GEOMETRIC SIMULATION OF THE MOVEMENT PROCESS OF THE EXCAVATOR’S MILLING WORKING EQUIPMENT

Abstract

The simulation of the process of movement of the milling working equipment of an excavator when digging a pipeline is discussed. The parameters of the repair and construction strip are calculated, the position of the coordinate systems of the excavator manipulator mechanism is established. A hypothesis has been put forward that the position of the excavator on the strip affects the volume of movement during digging, which increases energy consumption and reduces economic efficiency. The excavator manipulator is considered as a five-link mechanism. A kinematic scheme of the mechanism is given, on the basis of which a program based on the synthesis of movements along the velocity vector is created. The construction of the movement trajectory was carried out in such a way, that the output link was in a horizontal position throughout the entire movement process. The program was created using the Visual Lisp programming language built into the AutoCAD environment. The program made it possible to obtain graphic models of the movement of the excavator manipulator mechanism in its various positions, as well as to calculate the amount of movement. Based on the data obtained, a drawing by Radishchev was constructed, which reflected the dependence of the generalized coordinates of the excavator manipulator mechanism and the amount of movement on the depth of lowering of the working equipment. As a result, it was concluded that with the middle position of the excavator on the traffic lane, a smaller amount of traffic is provided, which means less energy consumption and a higher speed of work. The results of the conducted research can be used in the design of software and hardware systems for controlling moving objects, in particular, control systems for the motion of an excavator manipulator.