Design and Kinematics Analysis of Four-linkage Excavator

A common wheeled excavator is used as a prototype and its monoblock boom is transformed into 2-piece boom., which form a new type of four-linkage excavator composed of arm and bucket. Kinematic analysis of the working device of the four-linkage excavator is carried out to grasp the position change of bucket tip and the relationship between the length of hydraulic cylinder and the joint angle. The model of four-linkage excavator is established and its kinematic simulation is carried out based on the robotic toolbox in MATLAB. Finally, actual measurements are made and the four-linkage excavator's parameters are compared with parameters of the prototype. The results show that the working ranges of the four-linkage excavator are much larger than that of the prototype excavator, which provide theoretical supports for the design of the working device of the excavator and the trajectory planning of the excavator.