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The problem of determining the forces acting on the rods of hydraulic cylinders when performing the operation of digging the soil with an excavator bucket with different depths and orientations of the output link when it moves along a horizontal trajectory is solved. For this purpose various excavator configurations are constructed according to the velocity vector and the generalized coordinates and forces acting on the hydraulic cylinder rods are recorded in the database. Based on the known digging resistance force, the forces acting in the direction of the hydraulic cylinder rods are calculated. Using the data obtained, an image of the hypersurface was made on the Radishchev drawing, reflecting the influence of the force value on the bucket hydraulic cylinder rod from the values of generalized coordinates for a given bucket orientation angle and a resistance force. An algorithm has been developed for calculating the values of forces on the rods of hydraulic cylinders for various positions of the excavator manipulator mechanism using the given nodal points of hypersurfaces based on point calculus. Analytical dependences are determined, which are used to check the possibility of ensuring the movement of the bucket with given conditions.
Притыкин et al. (Wed,) studied this question.