Mathematics modeling and analyzing the up-frame's moment of inertia of excavator

On the basis of simplifying the up-frame and work device of medium and large excavator,space coordinates and D-H(Denavit-Hartenberg) method coordinate are used to establish the mathematical model of gravity center of the working device,moment of inertia with the position change and the total moment of inertia,to calculate and analyze the relative moment of inertia of the up-frame(rotating frame and working device) and optimize the value of moment inertia to improve the coordination of compound action up-frame platform of the medium and large hydraulic excavators.A case study was carried out to verify the accuracy of the mathematical model.The result shows that the mathematical model is accurate and reliable and the error is small.This model can effectively predict the trends of moment of inertia and calculate the value in real-time under any position.