Abstract
As part of this paper, a hydraulic excavator analyzed by Hall et al. [7] is studied on both kinematic and kinetostatic points of view by means of a modern approach: the structomatic method. The main steps of this method are explained and highlight its potential for the study of complex mechanisms by decomposing the hydraulic excavator into unique groupings called structomats. These ones allow to solve the closed-loop vectorial equations separately and can be found in any mechanisms, which facilitate the computer-aided implementation of this method due to the fact that the subroutines related to the structomats can be employed to study other mechanisms. The structomatic method is used to compute the kinematic parameters of the bucket’s centroid along with the active force of each of the three actuators depending on their predetermined sequence of motion. The structomatic method is straightforward and systematic for the study of a large amount of mechanisms and acts as an alternative to existing methods.
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Mailloux, M., Éné, M., Simionescu, I., Tabara, I. (2017). Use of the Structomatic Method to Perform the Forward Kinematic and Kinetostatic Analyses of a Hydraulic Excavator. In: Corves, B., Lovasz, EC., Hüsing, M., Maniu, I., Gruescu, C. (eds) New Advances in Mechanisms, Mechanical Transmissions and Robotics. Mechanisms and Machine Science, vol 46. Springer, Cham. https://doi.org/10.1007/978-3-319-45450-4_17
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DOI: https://doi.org/10.1007/978-3-319-45450-4_17
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