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Dynamic modeling of an excavator during digging and simulating the motion

Özünlü, Özcan Mutlu
The aim of this study is to perform the dynamic force analysis of a 3-degrees-of-freedom excavator during digging the soil and to simulate the motion on computer screen. Standard load calculations are done statically, therefore the effects of forces changing with time on the system cannot be observed. The dynamic analysis method used in the thesis is Recursive Newton – Euler Method and the numerical analysis method for simulation is 4th Order Runge – Kutta Method. After this study, the effects of sudden velocity changes; i.e, accelerational movements on construction machines, positions of bodies and dynamic forces on joints will be appointed and it will be possible to plan and control the motion.