Kinematic Modeling and Dynamic Simulation of Digging Arm of Mining Excavator
In view of the kinematic modeling and dynamic simulation of the digging arm of the mining excavator,firstly,the coordinate system of the digging arm was established by the D-H method,the positive kinematics equation of the digging arm was derived.Then 3D model of the digging arm was established based on the SolidWorks,and was introduced into the ADAMS.The driving function of the driving joint was set,and the digging arm was simulated to obtain a curve of the total force and the moment of each joint along with the time.The simulation results show that the moment and the resultant force of the joint 1 are the maximum values.The moment and the resultant force of each joint are affected by the coupling of other joints,meanwhile,the joint moment changes with the change of the angular acceleration,and the simulation result accords with the actual working condition which Lays the foundation for the subsequent structure optimization of the digging arm.
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