Computer modelling of the dynamics of the RH200 hydraulic excavator

ABSTRACT The excavation equipment used within the mining industry is commonly characterised by its size and increasing complexity. As the technology inherent in such machines develop, the information that is available to the operator to efficiently utilise the equipment to its potential must follow suit. A common element behind advanced algorithms in the control and parameter estimation solutions needed for the operator information systems of such machinery is the dynamic model. Here we examine the development of a dynamic model for the O&K RH200 hydraulic excavator, a multiple rigid-body mechanism with a unique triangular linkage.