Proposal of a Six-Legged Mini-Shovel and Its Mechanism Design and Walking Analysis Based on Static Analysis and a Computer-Aided Design Dynamic Model

Abstract

The conventional method of movement of a mini-shovel used for interior demolition work is a crawler. However, a crawler scratches road surfaces and floors; moreover, it lacks body stability when climbing up and down stairs. In this study, we propose a six-legged mini-shovel for interior demolition work and develop it based on a mini-shovel SK09SR, which is a product for the interior demolition work market. With regard to mechanism design, first the basic sizes of the chassis and leg are determined by the reachable region of the legs that is necessary for climbing stairs. Next, the leg mechanism is designed using static analysis based on the constraints of the maximum output of the hydraulic cylinder and pump. In addition, in order to demonstrate the dynamic analysis and simulation of walking, a three-dimensional computer-aided design dynamic model of six-legged mini-shovel is produced on the mechanism analysis software DADS. Then, the servo control of the hydraulic cylinder is designed. Finally, the results of dynamic analysis and simulation of walking, such as going straight, turning, side walk, diagonal walk, lifting vehicle height and climbing stairs, show that our proposed six-legged mini-shovel is a useful and effective method of movement for interior demolition work.