Spatial kinematics and virtual prototype modeling of Bucyrus shovel

In this study, a 3D model of the shovel motion based multi-body system dynamics in the Automatic Dynamic Analysis of Mechanical Systems (ADAMS) environment was developed. The kinematics model of the shovel was modeled as a multi-body system, which comprises the lower, upper, and the attachment mechanisms. The Euler–Lagrangian equations were employed as the computational framework to describe the dynamic behavior of the model. A virtual prototype of the shovel was built in the ADAMS software environment. This environment allows the visualization of a 3D motion of the general mechanical system and the prediction of interference of the moving components of the shovel. The numerical analysis and animation of digging, swinging, and dumping motions for the shovel were performed. The superimposed display of the deployment for the shovel in three phases allows a detailed examination of the dynamic interference among assembly components. This research provides a solid foundation for further shovel dynamics performance studies.