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.


Dynamic modelling of a backhoe-loader
Kılıç, Boran; Balkan, Raif Tuna; Department of Mechanical Engineering (2009)
The aim of this study is to develop a dynamic model of the loader system of a backhoe-loader. Rigid bodies and joints in the loader mechanism and loader hydraulic system components are modelled and analyzed in the same environment using the physical modelling toolboxes inside the commercially available simulation software, MATLAB/Simulink. Interaction between the bodies and response of the hydraulic system are obtained by co-operating the mechanical and hydraulic analyses. System variables such as pressure,...
Modeling and experimental evaluation of variable speed pump and valve controlled hydraulic servo drives
Çalışkan, Hakan; Balkan, Raif Tuna; Department of Mechanical Engineering (2009)
In this thesis study, a valveless hydraulic servo system controlled by two pumps is investigated and its performance characteristics are compared with a conventional valve controlled system both experimentally and analytically. The two control techniques are applied on the position control of a single rod linear actuator. In the valve controlled system, the flow rate through the actuator is regulated with a servovalve; whereas in the pump controlled system, two variable speed pumps driven by servomotors reg...
The effect of prismatic ruoghness elements on hydraulic jump
Evcimen, Taylan Ulaş; Tokyay, Nuray; Department of Civil Engineering (2005)
The objective of this study is to determine the effect of different roughness types and arrangements on hydraulic jump characteristics in a rectangular channel. Three different types of roughness were used along experiments. All of them had rectangular prism shapes and that were placed normal to the flow direction. To avoid cavitation, height of roughness elements were arranged according to level of the channel inlet, so that the crests of roughness elements would not be protruding into the flow. The effect...
Design and performance analysis of a pump-turbine system using computational fluid dynamics
Yıldız, Mehmet; Albayrak, Kahraman; Çelebioğlu, Kutay; Department of Mechanical Engineering (2011)
In this thesis, a parametric methodology is investigated to design a Pump-Turbine system using Computational Fluid Dynamics ( CFD ). The parts of Pump-Turbine are created parametrically according to the experience curves and theoretical design methods. Then, these parts are modified to obtain 500 kW turbine working as a pump with 28.15 meters head. The final design of Pump-Turbine parts are obtained by adjusting parameters according to the results of the CFD simulations. The designed parts of the Pump-Turbi...
Forced hydraulic jump on artificially roughened beds
Şimşek, Çağdaş; Tokyay, Nuray; Department of Civil Engineering (2006)
In the scope of the study, prismatic roughness elements with different longitudinal spacing and arrangements have been tested in a rectangular flume in order to reveal their effects on fundamental characteristics of a hydraulic jump. Two basic roughness types with altering arrangements have been tested. Roughness elements of the first type extends through the channel width against the flow with varying length and pitch ratios for different arrangements. The second type is of staggered essence and produced b...
Citation Formats
Ö. M. Özünlü, “Dynamic modeling of an excavator during digging and simulating the motion,” M.S. - Master of Science, Middle East Technical University, 2009.