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Identification, design and kinematic analysis of an earthmoving mechanism

Yongjun Pan, Alfonso Callejo
Journal of Terramechanics, Volume 66, August 2016, Pages 27-39, ISSN 0022-4898,
Earthmoving mechanisms in motor graders are critical components for earthwork, compaction and re-handling, and yet they have not received much attention by mechanical engineering research in recent times. In this paper, a comprehensive analysis, from mechanism identification and innovative design to kinematic analysis, is presented. First, the mechanism analysis and synthesis method based on multibody system dynamics is carried out through the analysis of the system topology and connectivity. We conclude that the earthmoving multibody system is a spatial hybrid mechanism, which consists of a spatial parallel mechanism and a spatial serial mechanism. Second, a number of new spatial parallel mechanisms, which are advantageous with respect to the original one under certain conditions, are generated. The kinematic characteristics of the parallel mechanism family are investigated in terms of constraint equations formulated in natural coordinates. Third and last, kinematic simulations and optimization processes are carried out to evaluate the advantages of the presented spatial parallel mechanisms. Simulation results show that these mechanisms can provide better kinematic performance.
Keywords: Motor grader; Earthmoving mechanism; Multibody systems; 3RRPS-S mechanism; Natural coordinates