Decomposition method in the study load-loading forestry manipulator mechanism mathematical model

Voronezh State Forestry University named after G.F. Morozov, 394087 Voronezh, Russia

^* Corresponding author: vum1@yandex.ru

Abstract

In this article a new hydrokinematic diagram of the boom lifting mechanism with an energy recuperation system in starting and braking modes is presented. The mathematical model of the lifting mechanism of a forest manipulator with a hydro-mechanical damper taking into account the rigidityof the metal structure of the boom and the hydraulic drive, described by a system of nonlinear differential equations of the second order, has been developed. In linearised formulation it is reduced to a second order differential equation with operator coefficients. The methods of operator theory and functional analysis are used to solve the problem. Reducing the dynamicloading and energy intensity of the working processes of the boom lifting mechanism of the forestry manipulator by justifying the parameters of the energy-saving damping device of the hydraulic drive allows increasing the reliability of the manipulator, reducing energy costs, as well as well as the downtime for repairs due to the failure of hydraulic equipment. The results obtained can be used in the design of recuperative systems for other lifting equipment in construction and agriculture.