INPUTS

OPERATION

RELIEVING PRESSURE CHECK

BREAKOUT FORCE CALCULATIONS (VECTORIAL)

Y
Y

X
X
Z
Z

1) KINEMATIC POINT LOCATIONS:

BOOM

A=

0
0
0

G=

-2686.9
1097.9
0

C=

-2097.6
0
0

I=

118.7
519
0

DIPPER

BUCKET

D=

-1272.8
0
0

A1=

-120
617
0

2) INITIAL POSITIONING FROM GRP:

3) DIPPER LINK LENGTH

JK=
4) BUCKET LINK LENGTH
JF=

525 mm
520 mm

5) Boom Position After Rotation (For Required Configuration)

Boom Rotation Matrix
BMR=

NEW BOOM KINEMATIC POS

-4712.1142

B1= 1618.24282
0

-12.3 Deg

-1689.75548
M1= 2002.61153
0

6) Dipper Position After Rotation (For Required Configuration)

Dipper Rotation Matrix
0.43993917
DPR= 0.89802758
0
NEW BOOM KINEMATIC POSITIONS:
-5634.9306
C1= -265.459827
0

63.9 Deg

-5125.96973
I1= 1953.16712
0

7) Bucket Position After Rotation (For Required Configuration)

Bucket Rotation Matrix
-0.06279052
BUR= 0.99802673
0
NEW BOOM KINEMATIC POSITIONS:
-5555.01083
D1= -1535.74825
0
=

93.6 Deg

8) Position of Point J ( For Required Configuration)

JK=

525 mm

S=

JF=

520 mm

Area Of Triangle JFK=

Angle KFJ=

505.231902
FK= 276.063765 575.7347 mm
0
Rotation Of Bucket Link
0.54444171 -0.838799
RBL= 0.83879868 0.544442
0
0

Direction of Rotation Vector

0
0
1

J1=

-5971.58 mm
335.911
0

9) Global Positions

A1=

-120
617 mm
0

D1=

-5555.01083
-1535.74825 mm
0

G1=

-2511.33769
2262.08968 mm
0

B1=

-4712.114
1618.243 mm
0

E1=

-550
157 mm
0

H1=

-4715.186
2288.658 mm
0

J1=

-5971.58
335.911 mm
0

10) Hydraulic Details

BOOM
Bore Side Diameter=
Rod Side Diameter=
Extended Length=
Retracted Length=
Stroke=
No of Cylinders=

100
75
2642
1561
1081
1

mm
mm
mm
mm
mm

DIPPER
Bore Side Diameter=
Rod Side Diameter=
Extended Length=
Retracted Length=
Stroke=
No of Cylinders=

115
80
2902
1714
1188
1

mm
mm
mm
mm
mm

95
70
2346
1422
924
1

mm
mm
mm
mm
mm

BUCKET
Bore Side Diameter=
Rod Side Diameter=
Extended Length=
Retracted Length=
Stroke=
No of Cylinders=
WORKING PRESSURE
P=

34.3 N/mm^2

ACTING HYDRAULIC FORCE AREAS

BORE SIDE
Abmb=
Adpb=
Abub=

ROD SIDE

7850 mm^2
10381.625 mm^2
7084.625 mm^2

Abmr=
Adpr=
Abur=

4415.625
5024
3846.5

11) Breakout Force Calculations

DIRECTION OF BUCKET BREAKOUT FORCE (PERPENDICULAR TO VECTOR CD)

79.9197733
CD= -1270.28842
0

1272.8

-90 Deg

0.06279052
u= -0.99802673
0
6.1232E-017
RBR=
-1
0

-0.99802673
RBR*u= -0.06279052
0

BUCKET CYLINDER BORE SIDE FORCE

Hydraulic Force Reaction

-845.609784
J1-I1= -1617.25608 1824.986 mm
0

Fbub=

-112595.621
-215342.769 243002.6 N
0

Rbub=

Calculating Moment About P

Mk=

For Equilibrium of Dipper Link, Force through Bucket Link at Point F

19972.362
Ffj= 263539.163 264294.9 N
0
Opposite Reaction Force, For equilibrium of Bucket link
-19972.362
Fjf= -263539.163 264294.9 N
0
Moment at Bucket Hinge Pin

Mc=

0
0 N.mm
100730970

Considering equilibrium of moments on bucket: Breakout Force due to bucket Cy

-78985.0722
Ffmbub= -4969.31954 79141.24 N
0
Limiting Breakout Force

-78985.0722
Fbr= -4969.31954 79141.24 N
0

Fbrg=

12) Resolving Forces At Pivots

-19972.362
Fjf= -263539.163 264294.9 N
0

19972.362
Rfj= 263539.163 264294.9 N
0

Considering equilibrium of Moments on Dipper Link: Force through Bucket Cylind

-112595.621
Fij= -215342.769 243002.6 N
0

112595.621
Rji= 215342.769 243002.6 N
0

Pressure Generated on Bore Side in Bucket Cylinder

-15.8929542
Pbub= -30.3957893
0

343 Mpa

OK

Considering equilibrium of bucket: Force at point C on Bucket

98957.4342
Fc= 268508.482 286163.2 N
0
Reaction at Point C on Dipper
-98957.4342
Rc= -268508.482 286163.2 N
0
Considering equilibrium of forces on Dipper link: Force at Point K on Dipper link
92623.2589
Fk= -48196.3943 104412.5 N
0
Reaction at Point K on Dipper
-92623.2589
Rk= 48196.3943 104412.5 N
0

Alternate Force Evaluation for Fh

-365360.406
Fh= 4404.55301
0

365387 N

-35.1929882
Pdpb= 0.42426431 351.9555 Mpa
0

OK

NOT OK

Reaction at Point G on Boom

365360.406
Rg= -4404.55301
0

365387 N

Considering equilibrium of forces on dipper: Force at point B on Dipper

444345.479
Fb= 564.766525 444345.8 N
0

Reaction at Point B on Boom

-444345.479
Rb= -564.766525 444345.8 N
0

13) FORCES ON DIPPER

112595.621
Rji= 215342.769 243002.6 N
0

-365360
Fh= 4404.553
0

19972.362
Rfj= 263539.163
0

365387 N

Alternate Force Evaluation for Fm

-123693.278
Fm= 200297.122 235412.3 N
0

OK

-15.7571055
Pbmb= 25.5155569 299.8883 Mpa
0

OK

Considering equilibrium of forces on Boom: Force at point A on Boom

202678.351
Fa= -195327.802 281480.8 N
0

14) FORCES ON BOOM

365360.406
Rg= -4404.55301
0

365387 N

-123693.278
Fm= 200297.122
0

EVING PRESSURE CHECK

OUTPUT

IGNORE

ATIONS (VECTORIAL)

X
X

mm

B=

-4700
0
0

mm

M=

-1828.9
1019.4
0

mm

K=

-1718.4
41.8
0

mm

H=

600.7
297.7
0

mm

mm

mm

mm

CHECK BOX

mm

F=

106.3
370
0

mm

E1=

-550
157
0

mm

mm

om Rotation Matrix
0.977046
0.21303
-0.21303 0.977046
0
0

0
0
1

W BOOM KINEMATIC POSITIONS:

-2511.3377 mm
mm

G1= 2262.0897
0
mm

on Matrix
-0.898028
0.439939
0

INEMATIC POSITIONS:
mm

mm

0
0
1

-5505.6432 mm
K1= 93.461687
0
-4715.1855 mm
H1= 2288.6579
0

on Matrix
-0.998027
-0.062791
0

0
0
1

INEMATIC POSITIONS:

mm

810.3674

-6010.8751
F1= -182.60208 mm
0

125519.5 mm^2
57.01348 Deg

ection of Rotation Vector

0.877543
0.479498
0

C1=

-5634.931
-265.4598 mm
0

F1=

-6010.875
-182.6021 mm
0

I1=

-5125.97
1953.167 mm
0

OK

mm^2
mm^2
mm^2

LAR TO VECTOR CD)

1
6.12E-017
0

OK

0
0
1

draulic Force Reaction

112595.6
215342.8 243002.6 N
0

J1-K1

-465.9363
242.4494
0

Fbub

-112596
-215343
0

culating Moment About Point K

0
0 N.mm
1.3E+008

nk at Point F

J1-F1

39.29561
518.5131 520
0

F1_J1_U

0.075568
0.997141 1
0

F1-C1

-375.9445
82.85775
0

Fjf

-19972.36
-263539
0

D1-C1

79.91977
-1270.288 1272.8
0

ut Force due to bucket Cylinder

RBR*U

-0.998027
-0.062791 1

0
-8051.485
-506.5565 8067.405 Kg
0

D1-C1

79.91977
-1270.288 1272.8
0

Fbr

-78985.07
-4969.32 79141.24
0

ce through Bucket Cylinder

J1-K1

-465.9363
242.4494 525.2412

Rfj=

19972.36
263539.2 264294.9
0

at Point K on Dipper link

Considering equilibrium of Moments on

365360.4
Fh= -4404.553

365387

int B on Dipper

Pressure Generated in Dipper Cylinder

35.19299
Pdpb= -0.424264 351.9555
0

D1-B1

-842.8966
-3153.991 3264.68
0

Fbr=

-78985.07
-4969.32 79141.24
0

264294.9 N

Considering equilibrium of Moments on

-123693
Fm= 200297.1 235412.3
0

-15.75711
Pbmb= 25.51556 299.8883
0

D1-A1

-5435.011
-2152.748 5845.825
0

Fbr=

nt A on Boom

235412.3 N

-78985.07
-4969.32 79141.24
0

-465.9363 242.4494
-112596

-215343

-465.9363 242.4494

0.075568 0.997141

1.3E+008

-482.9255

-375.9445 82.85775

-19972.36

-263539

79.91977 -1270.288

-0.998027 -0.062791

1.0E+008

-1272.8

-39.29561
F1-J1
-518.5131 520
0
79.91977 -1270.288

-78985.07

-4969.32

F1-C1

F1-J1
-1E+008

F1-J1

-39.29561
-518.5131 520
0

J1-K1

-375.9445
82.85775 384.9671
0
-39.29561
-518.5131 520
0

-465.9363
242.4494 525.2412

-375.9445
-0.075568
381.131

-465.9363 242.4494

19972.36 263539.2

J1-I1
-1E+008

-465.9363

-845.6098
-1617.256 1824.986
0

-0.463351
525.2402

um of Moments on Dipper: Taking Moment at Point B

C1-B1
N

-922.8164
-1883.703 2097.6
0

-922.8164 -1883.703

Rc=

-98957.43
-268508 286163.2
0

-98957.43

-268508

61377651

n Dipper Cylinder Bore Side

Mpa

NOT OK

H1-B1
-842.8966 -3153.991
-78985.07

-4969.32
H1-G1

-2E+008

-3.07135
670.4151 670.4221
0
-2203.848
26.56819 2204.008
0

-3.07135 670.4151
-0.999927 0.012054
670.3293

um of Moments on Boom: Taking Moment at Point A

B1-A1
N

Rb=

Mpa

-4592.114
1001.243 4700
0

-4592.114 1001.243

-444345
-564.7665 444345.8
0

-444345 -564.7665
4.5E+008

-1569.755
1385.612 2093.813
0

-1569.755 1385.612

OK

M1-A1
-5435.011 -2152.748

-78985.07

-4969.32
M1-E1

-1E+008

-1139.755
1845.612 2169.176
0

-0.525432 0.850835
-607.5581

82.85775

-0.997141

242.4494

-0.886175

K1-B1
0

-793.529
-1524.781 1718.908
0

I1-B1
-793.529 -1524.781

0
Rk=

0
0

-92623.26
48196.39 104412.5
0

-92623.26 48196.39

0
Rji=

-2E+008

G1-A1
0
0
Rg=

-2391.338
1645.09 2902.553
0
365360.4
-4404.553 365387
0

M1-A1
-2391.338

1645.09

365360.4 -4404.553

0
M1-E1

-6E+008

-413.8555
334.9243 532.4009
0

H1-B1
-413.8555 334.9243

-3.07135
670.4151 670.4221
0

112595.6
215342.8 243002.6
0

112595.6 215342.8

0
H1-G1

-1E+008

-2203.848
26.56819 2204.008
0

-1569.755
1385.612 2093.813
0
-1139.755
1845.612 2169.176
0

-1569.755 1385.612

-0.525432 0.850835

-607.5581

-3.07135 670.4151

-0.999927 0.012054
670.3293