Identification,design and kinematic analysis of an earthmoving mechanism |
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| Affiliation: | 1. University Institute for Automobile Research (INSIA), Universidad Politécnica de Madrid, Madrid, Spain;2. Centre for Intelligent Machines, McGill University, Montréal, Québec, Canada;1. Department of Urology, The University of Iowa College of Engineering, Iowa City, IA, USA;2. The Institute for Clinical and Translational Science Biomedical Informatics, Iowa City, IA, USA;3. University of Iowa Hospitals and Clinics, The University of Iowa College of Engineering, Iowa City, IA, USA;1. Institute of Solid Mechanics, Beihang University (BUAA), Beijing 100083, China;2. School of Aeronautic Science and Engineering, Beihang University (BUAA), Beijing 100083, China;1. School of Electrical & Electronic Engineering, The University of Adelaide, SA 5005, Australia;2. Department of Electrical & Electronic Engineering, Islamic University of Technology, Gazipur, Bangladesh;3. Department of Electrical & Electronic Engineering, Bangladesh University of Engineering & Technology, Dhaka, Bangladesh;1. Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan;2. Department of Civil and Environmental Engineering, National University of Kaohsiung, Kaohsiung, Taiwan |
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| Abstract: | Earthmoving mechanisms in motor graders are critical components for earthwork, compaction and re-handling, and yet they have not received much attention by mechanical engineering research in recent times. In this paper, a comprehensive analysis, from mechanism identification and innovative design to kinematic analysis, is presented. First, the mechanism analysis and synthesis method based on multibody system dynamics is carried out through the analysis of the system topology and connectivity. We conclude that the earthmoving multibody system is a spatial hybrid mechanism, which consists of a spatial parallel mechanism and a spatial serial mechanism. Second, a number of new spatial parallel mechanisms, which are advantageous with respect to the original one under certain conditions, are generated. The kinematic characteristics of the parallel mechanism family are investigated in terms of constraint equations formulated in natural coordinates. Third and last, kinematic simulations and optimization processes are carried out to evaluate the advantages of the presented spatial parallel mechanisms. Simulation results show that these mechanisms can provide better kinematic performance. |
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| Keywords: | Motor grader Earthmoving mechanism Multibody systems 3RRPS-S mechanism Natural coordinates |
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