Compliance Analysis of Construction Machinery Front by Direct Stiffness Method
Hiroaki Muramoto*, Kunitsugu Tomita**, and Toshio Morita**
*Department of Mechanical Engineering, Keio University, 3-14-1 Hiyoshi, Khoku-ku, Yokohama, Kanagawa 223-8522, Japan
**Hitachi Construction Machinery Co., Ltd., 650 Kandatsu-machi, Tsuchiura, Ibaraki 300-0013, Japan
It is considered effective for simplification of complex work and assurance of work quality to provide a hydraulic excavator with passive compliance.
In designing passive compliance, however, it is essential to conduct prior verification by analysis. In this study we proposed a method for calculating a compliance ellipsoid of a hydraulic excavator front end by the direct stiffness method. In addition, we conducted validation of the stiffness equation for calculating a compliance ellipsoid, using a model boom. We also demonstrated that a compliance ellipsoid could be derived regardless of varying front structures. Furthermore, we derived stiffness parameters that produce reaction forces not exceeding target values from the working plane in contour following by an unskilled worker, and confirmed validity of the stiffness parameters in experiments.
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