Kinematics and Dynamics Analysis of a New Loader Working Device

doi:10.3901/JME.2025.05.178

Abstract

Abstract: In order to realize the development and design of the loader working device with independent intellectual property rights, the kinematics and dynamics analysis of a new loader working device with eight bars and a multiple-joint are carried out. By analyzing the degrees of freedom of the new loader working device, it is verified that the working device satisfies one rotational degree of freedom and one translational degree of freedom required for loader operation. The kinematics analysis of the new working device is carried out by using the complex vector method. The mapping relations between the pose space at the end of bucket, the angular acceleration of each component and the driving space are established. Based on the principle of virtual work, the dynamic model of the new working device is established, and the mathematical model of the driving force of the hydraulic cylinder is derived. The motion of the hydraulic cylinder is planned, and two common shoveling methods for loaders are adopted. Based on Matlab and ADAMS software, the dynamic simulation and comparative analysis of a working cycle of the loader are carried out, and the rule of change of the driving force of the lifting hydraulic cylinder and the bucket hydraulic cylinder is obtained. The error of the simulation results is within a reasonable range, which verifies the correctness of the dynamic model. Taking the boom lifting condition as an example, the influence of different hydraulic cylinder driving speed and acceleration on the driving force of hydraulic cylinder is studied, it is concluded that when the driving speed and acceleration of the hydraulic cylinder change slightly, the driving force of the hydraulic cylinder is less affected and the inertial force of the working device is greatly affected. In addition, the gravity and external load of the working device play a decisive role in the driving force of the hydraulic cylinder. The research results provide an important theoretical basis for the development and design of loader working device, and have guiding significance for the design of the hydraulic system of the working device.

Key words: new loader working device, complex vector method, kinematics analysis, principle of virtual work, dynamic model, driving force of hydraulic cylinder

CLC Number:

TH243

HUANG Peng, ZHANG Jincheng, DING Huafeng, CHEN Ziming, ZHAO Yuqian. Kinematics and Dynamics Analysis of a New Loader Working Device[J]. Journal of Mechanical Engineering, 2025, 61(5): 178-190.

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