Coupled linkage system optimization for minimum power consumption |
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Authors: | Kihan Shin Sungcheul Lee Hyunpyo Shin Youngsun Yoo Jongwon Kim |
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Affiliation: | 1.School of Mechanical and Aerospace Engineering,Seoul National University,Seoul,Korea;2.Korea Institute of Machinery & Materials,Daejeon,Korea;3.Doosan Technology Center,Doosan Infracore,Gyeonggi-do,Korea |
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Abstract: | This paper presents the dynamic analysis and kinematic parameter optimization of a coupled linkage system for the purpose
of employing the system in construction industry. So far, the kinematic optimization of wheel loaders was approached heuristically
rather than utilizing elaborate theoretical examinations due to the complexity of coupled linkage structures. The results
of the theoretical analysis and kinematic parameter optimization are presented in this paper. A wheel loader with Z-bar linkage was analyzed. For a given end-effector path, the linkage system was optimized to carry out effective motion while
exhibiting minimum power consumption during operation. A modified principle of reduced system was applied in order to execute
the dynamics analysis of the coupled linkage system. As a result, an optimal Z-bar linkage structure and a distribution of power consumption within the given conditions were obtained. |
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