This work deals with analysis of dynamic behaviour of hydraulic excavator on the basis of developed dynamic-mathematical model. The mathematical model with maximum five degrees of freedom is extended by new generalized coordinate which represents rotation around transversal main central axis of inertia of undercarriage. The excavator is described by a system of six nonlinear, nonhomogenous differential equations of the second kind. Numerical analysis of the differential equations has been done for BTH-600 hydraulic excavator with moving mechanism with pneumatic wheels.
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