Motion law of Excavator Based on the Method of Ultrasonic Distance Measuring

摘要

By analyzing the dynamic model of working mechanism for excavator, motion status of working mechanism during digging process was researched. The tests under two kinds of commonly operating conditions for the motion of excavator were carried out by method of ultrasonic distance measuring. The results show that the motion law of working mechanism under two kinds of operating conditions was basically similar, and digging process presented periodicity clearly. Each excavating period included four stages which were bucket excavating, boom lifting, medium dumping, and working mechanism returning respectively. One-arm excavating and two-arm linkage excavating was main operating method for excavator. The purpose of three-arm linkage excavating was to adjust excavating posture, therefore, which often happened in a short time during an excavating period, and appeared relatively few during digging process.