Determination of the Theoretical Digging Force of Hydraulic Excavator Using Transfer Functions of Manipulator Drive Mechanisms
| International Journal of Mechanical Engineering |
| © 2025 by SSRG - IJME Journal |
| Volume 12 Issue 1 |
| Year of Publication : 2025 |
| Authors : Krasimir Ganchev |
10.14445/23488360/IJME-V12I1P110
How to Cite?
Krasimir Ganchev, "Determination of the Theoretical Digging Force of Hydraulic Excavator Using Transfer Functions of Manipulator Drive Mechanisms," SSRG International Journal of Mechanical Engineering, vol. 12, no. 1, pp. 83-88, 2025. Crossref, https://doi.org/10.14445/23488360/IJME-V12I1P110
Abstract:
Determining the theoretical digging force of the manipulator of the hydraulic excavator is a very important issue since it is а main characteristic of these machines. The arm and bucket drive mechanisms mainly determine the theoretical digging force. The hydraulic cylinders are included in the manipulator drive mechanisms of hydraulic excavators, i.e. they form the input force of these mechanisms. Thus, the driving mechanisms of the boom and the arm are of the type of Inverted Slider-Crank Mechanism (ISCM), and the driving mechanism of the bucket is the six-link mechanism of Watt type, composed of two sequentially connected mechanisms - ISCM and articulated Four-Bar Linkage (FBL). The proposed method uses transfer functions of the driving mechanisms to relate the input force to the output driving moment. The output moment accordingly drives the arm and the bucket, which forms the digging force of the excavator. Thus, the driving moment, resp. The type of transfer functions of the driving mechanism in dimensionless form completely describes the digging force. In the work, the transfer functions of the considered mechanisms are described, and typical diagrams of the driving moment of these mechanisms are attached, respectively of the theoretical digging force.
Keywords:
Digging force, Driving mechanism, Hydraulic excavator, Manipulator, Transfer function.
References:
[1] International Standard ISO 6015: Earth-Moving Machinery Hydraulic Excavators and Backhoe Loaders Methods of Determining Tool Forces, ISO, 2006. [Online]. Available: https://www.iso.org/standard/40689.html
[2] Yogesh Khedkar et al., “The Evaluation of Forces Acting on Excavator Bucket and its Capacity,” Materials Today: Proceedings, vol. 68, pp. 2591-2596, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[3] Bhaveshkumar P. Patel, and J.M. Prajapati, “Evaluation of Resistive Force using Principle of Soil Mechanics for Mini Hydraulic Backhoe Excavator,” International Journal of Machine Learning and Computing, vol. 2, no. 4, pp. 386-391, 2012.
[Google Scholar] [Publisher Link]
[4] Zhigui Ren et al., “Research on the Matching Characteristics of the Theoretical Digging Force of a Backhoe Hydraulic Excavator,” Scientific Reports, vol. 12, no. 1, pp. 1-13, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[5] Goran Petrovic et al., “Optimal Synthesis of Loader Drive Mechanisms: A Group Robust Decision-Making Rule Generation Approach,” Machines, vol. 10, no. 5, pp. 1-21, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[6] Bhaveshkumar P. Patel and J.M. Prajapati, “Evaluation of Bucket Capacity, Digging Force Calculations and Static Force Analysis of Mini Hydraulic Backhoe Excavator,” Machine Design, vol. 4, no. 1, pp. 59-66, 2012.
[Google Scholar] [Publisher Link]
[7] A. Mahesh Babu, “Static Force Analysis of Mini Hydraulic Backhoe Excavator and Evaluation of Bucket Capacity, Digging Force Calculations,” Digging Force Calculations, International Journal of Engineering Research and Applications: National Conference on Developments, Advances & Trends in Engineering Sciences, Hyderabad, Telangana, pp. 25-32, 2015.
[Google Scholar] [Publisher Link]
[8] Zhigui Ren et al., “Strength Analysis of Excavator Bucket Based on Normal Digging Trajectory and Limiting Digging Force,” Journal of Vibroengineering, vol. 23, no. 1, pp. 217-226, 2020.
[CrossRef] [Google Scholar] [Publisher Link]
[9] Zuhe Qin, “Modeling and Simulation of Theoretical Digging Force of an Excavator Based on Arbitrary Posture,” Mathematical Problems in Engineering, vol. 2022, pp. 1-7, 2022.
[CrossRef] [Google Scholar] [Publisher Link]
[10] Y. Khedkar, T. Dey and Y. Padasalagi, “Study of Forces Acting on Excavator Bucket While Digging,” Journal of Applied Mechanical Engineering, vol. 6, no. 5, pp. 1-6, 2017.
[CrossRef] [Google Scholar] [Publisher Link]
[11] Yuan Sun et al., “Digging Performance and Stress Characteristic of the Excavator Bucket,” Applied Sciences, vol. 13, no. 20, pp. 1-21, 2023.
[CrossRef] [Google Scholar] [Publisher Link]
[12] Zhihong Zou, Xiaoping Pang, and Jin Chen, “Comprehensive Theoretical Digging Performance Analysis for Hydraulic Excavator using Convex Polytope Method,” Multibody System Dynamics, vol. 47, pp. 137-164, 2019.
[CrossRef] [Google Scholar] [Publisher Link]
[13] Tianyu Li et al., , “Dynamic Digging Force Modeling and Comparative Analysis of Backhoe Hydraulic Excavators,” Measurement Science and Technology, vol. 35, no. 3, 2023.
[CrossRef] [Google Scholar] [Publisher Link]
[14] Ilaria Palombaet et al., “Estimation of the Digging and Payload Forces in Excavators by Means of State Observers,” Mechanical Systems and Signal Processing, vol. 134, 2019.
[CrossRef] [Google Scholar] [Publisher Link]
[15] Tianyu Li et al., “Comparative Analysis Study of Resistance Characteristics of Backhoe Hydraulic Excavators,” Mechanics & Industry, vol. 25, pp. 1-13, 2024.
[CrossRef] [Google Scholar] [Publisher Link]