Dynamic Models for Workload Determination and Condition Assessment in Mining Equipment

Abstract

In this article we present an efficient method to automatically formulate and solve the inverse dynamics problem of a mechanical system, and apply this method for determining dynamic workloads for prescribed motions as in mining equipment working cycles. The method is based in the application of the Principle of Virtual Work to the Newton-Euler Equations of the system bodies stated in the D’Alembert form. The novelty in this method is that Jacobian matrices are automatically generated using a special property of generalized velocities not often noted by authors. Hence, using any robust recursive scheme to compute system positions and orientations, and the system linear and angular velocities, allows to directly fill the jacobian matrices to compute joint torques without the need to take derivatives of the constraints equations for this purpose as is usually done.