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Digging Trajectory Optimization for a New Excavating Mechanism of Electric Mining Shovel

For traditional 2-DoF excavating mechanism of electric mining shovel, the log spiral trajectory is regarded as the optimal digging trajectory with less energy consumption. The design of new 3-DoF excavating mechanism is aimed for a mechanism more dexterous than the traditional 2-DoF one, thus reduces the digging energy consumption. The optimal trajectory of the new mechanism should be different from the traditional one. This paper considers different possibilities of excavating manners and different kind of digging trajectories. With the method of polynomial fitting, the approximately optimal trajectory is obtained. With the numerical simulation, it shows that the new 3-DOF excavating mechanism is energy-efficient compared with the traditional excavating mechanism.Copyright © 2012 by ASME