Modeling and optimization of the working mechanism motion of the hydraulic excavator

We consider the coupled motion of the working mechanism of hydraulic excavator in its vertical plane and rotation of the platform. The working mechanism is the rigid body planar mechanism with three degrees of freedom in its vertical plane. The motion is described by Lagrange equations of the second kind. For the simplified system with two degrees of freedom, one of which is the rotation of platform, on the basis of linearized equations of motion, optimal control of coupled motions is determined in the range from given initial to final state, under the restriction of the total power of the system. As criteria for the optimal control we took: the shortest motion time, the least kinetic energy, the least acceleration energy.