Spatial Kinematics Modeling and Simulation of Wheel Loader
نویسندگان
چکیده
The wheel loader is modeled as a mechanical manipulator with four degrees of freedom (DOFs), which comprises a seven-bar linkage using the symbolic notation of Denavit and Hartenberg. Homogeneous transformation matrices are used to capture the spatial configuration between adjacent links. The forward kinematics method is used to formulate the kinematics equations by attaching Cartesian coordinates to the schematic wheel loader diagram. A three-dimensional virtual prototype of the wheel loader is built in ADAMS environment to kinematics simulation. The model is validated with the numerical analysis of the simulation results. This research provides a solid foundation for further dynamics modeling wheel loader study.
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