Abstract
Only when mining at reasonable cutting speed, can a mechanical excavator achieve high efficient and low consumption. The same cutting-angle logarithmic spiral trajectory is initially confirmed for the model of a reasonable excavating trajectory to reduce digging resistance. An analytical expression between hoisting and pushing speed is derived from the mechanism kinematics theory and the constraint equation method. This expression accurately describes the cooperative relationship between these speeds. Virtual prototype kinematics of a large mechanical excavator are simulated and verified through ADAMS. The simulation result is consistent with the theoretical result, and thus validates the analytical expression between hoisting and pushing speed.
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