Iran J Sci Technol Trans Mech Eng

https://doi.org/10.1007/s40997-018-0236-z (0123456789().,-volV)(0123456789().
,- volV)

RESEARCH PAPER

Optimization of a Loader Mechanism on the Basis of the Directed

Digging Force
Jovan Pavlović1 • Dragoslav Janošević1 • Vesna Jovanović1

Received: 1 July 2016 / Accepted: 21 July 2018

 Shiraz University 2018

Abstract
The paper defines the directed digging force as a criterion for the optimal synthesis of loader mechanisms. The directed
digging force is defined on the basis of the following: boundary digging forces permitted by the stability of a loader,
boundary digging forces enabled by loader mechanisms, and factors related to the digging position in the working range of
a loader and the directions and senses of activity of the possible digging resistance. A general mathematical model and
applicative software are defined for the purpose of determining the directed digging force. The developed software is used
to perform a comparative analysis of boundary digging forces and determine the defined directed digging force for two
loader models with the same mass (around 15,000 kg with the bucket capacity of 2.7 m3) with the identical parameters of
the kinematic chain but with different parameters of the loader mechanisms. The results of the analysis presented in the
paper show that the defined directed digging force can be used to assess the digging efficiency of already created loader
models, but also as an optimization criterion in the synthesis of loader mechanisms in new models of loaders and other
mobile machines.

Keywords Loaders  Drive mechanism  Optimization

1 Introduction The needed digging forces in the working range of a

Loaders belong to the set of mobile machines which are
used in all commercial activities. The basic function of
loaders of all sizes is the cyclic transport of material which
consists of the following operations: scooping (digging),
moving and unloading of material, and returning to the new
scooping position. The scooping operation can be per-
formed in different ways adapted to the type and configu-
ration of the material being handled, where the bucket, as
the basic tool of the loader mechanisms, needs to overcome
certain digging resistances with an appropriate digging
force.
& Jovan Pavlović
pavlovic.j@masfak.ni.ac.rs
Dragoslav Janošević
janos@masfak.ni.ac.rs
Vesna Jovanović
vesna.nikolic@masfak.ni.ac.rs
1
Faculty of Mechanical Engineering, University of Niš, A.
Medvedeva 14, 18000 Niš, Serbia
loader are exerted by the loader mechanisms, strengthened
with drive mechanisms which possess bidirectional
hydraulic cylinders as actuators.
To produce an optimal design of the basic loader sys-
tems, particularly the kinematic chain and drive mecha-
nisms, it is necessary to perform a detailed analysis of
digging forces, i.e. digging resistances, in the entire
working range of a loader. The influence and importance of
digging resistances in the development and analysis of a
loader are emphasized by the performed research into:
(a) analytical modelling and experimental determination of
the size and character of the change in the digging resis-
tance (Takahashi et al. 2006; Shigeru et al. 2001; Taka-
hashi et al. 1999), (b) the development of mathematical
models for kinematic and dynamic analysis of loaders (Li
et al. 2015; Worley and La Saponara 2008; Takahashi et al.
2004; Janošević et al. 2014), (c) the optimization of loader
mechanisms (Shin et al. 2012; Shen et al. 2013; Zhang
et al. 2007; Cao and Cleghorn 2011; Yu et al. 2010).
In the papers that deal with determining the digging
resistance, the mathematical models of changes in the

123

digging resistance of the loader are defined on the basis of
the forces in the hydraulic cylinders of the boom and
bucket of the loader mechanism measured in laboratory
conditions.
In the papers that deal with optimizing the loader drive
mechanisms of the Z kinematics, the static and dynamic
optimization models are developed in line with the fol-
lowing criteria: the minimal change of the loaded bucket
angle when lifting to the unloading height, the maximal
transferable function of the loader drive mechanisms, and
the minimal consumption of energy during the operating
cycle of the loader.
Values of declared digging forces defined by certain
standards are given as fundamental technical parameters of
loaders (Surface vehicle standard 1992). However,
declared forces represent the ability of a loader to dig only
in a single position of the kinematic chain of the machine.
Contrary to previous research and defined optimization
criteria, this paper presents the optimization of the loader
drive mechanisms of the Z kinematics performed according
to the defined criterion of the directed digging force.
2 Mathematical Model
To define the directed digging force, the paper develops a
mathematic model of a loader with a general four-member
configuration of the kinematic chain comprising: the rear
L1 and the front L2 support and movement member
Fig. 1 Mathematical model of the loader for defining the directed digging force
123
Iran J Sci Technol Trans Mech Eng
(Figs. 1, 2) and the loader mechanisms with the boom L3
and the bucket L4. The rear and the front support and
movement members are connected using a vertical rotary
fifth-class joint O2, thus forming the movement mechanism
of the machine. The kinematic chain of the loader mech-
anisms is of planar configuration. The axes of the rotary
joints Oi are parallel, and the centres of the joints lie in the
same plane—the plane of the loader mechanisms. The
intersection of the bucket cutting edge through the plane of
the loader mechanisms represents the centre of the bucket
cutting edge Ow.
The assumptions of the mathematical model of the
loader kinematic chain are: (1) the support surface and the
kinematic chain members of the loader are modelled using
rigid bodies; (2) the first joint between the support and
movement member and the loader support surface has a
variable position (O11, O12), lies in the centre of the surface
where tires meet the ground, and has the form of rotary
joints whose axes represent potential (longitudinal z–
z) loader rollover lines; (3) during a manipulation task, the
loader is subjected to external (technological) forces—
digging resistance W and gravitational forces (weights) of:
members of the kinematic chain, members of the drive
system, and material scooped up by the loader bucket; (4)
the kinematic chain of the loader is observed during the
digging operation as an open-configuration chain whose
final member—the bucket, is subjected to the digging
resistance W in the centre of the bucket cutting edge and in
the plane of the loader mechanisms.
Iran J Sci Technol Trans Mech Eng
Fig. 2 Correction factors of the
direction of the digging force:
a constant and b variable values
The area of the loader model is determined by an
absolute coordinate system OXYZ with unit vectors i; j; k
along the coordinate axes OX, OY, and OZ. The loader
support surface lies in the horizontal OXZ plane of the
absolute coordinate system, while the vertical OY axis of
the same system falls on the axis of the kinematic pair of
the front and rear member of the support and movement
mechanism.
In the final member of the chain–the bucket, the O4x4
axis of the local coordinate system passes through the
centre of joint O4 and the centre of the bucket cutting edge
Ow. The member of the kinematic chain Li is determined, in
its local coordinate system Oi xi yi zi, by a set of values
(Fig. 2):
Li ¼ f ei ; si ; ti ; mi g ð1Þ
where ei—the unit vector (rotation) of joint Oi axis which
connects the member Li to the previous member Li–1; si—
the vector of the position of joint Oi?1 centre which is used
to connect the chain member Li to the next member Li?1,
where the vector magnitude si—the kinematic length of the
member Li; and ti—the vector of the position of the
member Li mass centre mi.
To define the directed digging force, the planar position
of the loader kinematic chain configuration is observed
when the potential (longitudinal z–z) loader rollover line is
parallel to the axes of the loader mechanisms joints. It is
assumed that the centres of joints and centres of masses of
all members of the loader kinematic chain lie in the vertical
OXY axis of the absolute coordinate system of the model.
In the boom drive mechanism C3, the hydraulic cylin-
ders c3 of the boom are directly connected to the front
support and movement member and the boom itself.
The bucket drive mechanism C4 has a hydraulic cylinder
c4 which is connected on the one side directly to the front
support and movement member and on the other indirectly
to the bucket, using a two-arm lever L6 and a coupling rod
L5, thus forming the Z kinematics of the mechanism.
The assumptions of the mathematical model of loader
mechanisms are: (1) the position of the mass centre of a
hydraulic cylinder is in the middle of its current length; (2)
masses of joint elements belong to the members of the
loader mechanisms kinematic chain; (3) to be neglected
are: the influence of friction in the joints of drive mecha-
nisms, the influence of friction in hydraulic cylinders, and
the influence of pressure in the return ducts of hydraulic
cylinders.
The drive mechanism Ci of the loader mechanisms is
determined with the following set in the mathematical
model of the loader (Fig. 1):
Ci ¼ Cci [ Cpi 8 i ¼ 3; 4 ð2Þ
where Cci—the set of parameters of the drive mechanism
hydraulic cylinder and Cpi—the set of transferable
parameters of the drive mechanism.
The set of parameters of the drive mechanism hydraulic
cylinder is determined in the mathematical model of the
loader using a set of quantities:
 
Cci ¼ di1 ; di2 ; cip ; cik ; mci ; nci 8 i ¼ 3; 4 ð3Þ
where di1, di2—the piston diameter and the diameter of the
piston rod in the hydraulic cylinder; cip—the minimal
length of the hydraulic cylinder when the piston rod is fully
drawn in; cik—the maximal length of the hydraulic cylinder
when the piston rod is fully drawn out; mci—the hydraulic
cylinder mass; and nci—the number of drive mechanism
hydraulic cylinders.
The set of transferable parameters of the boom drive
mechanism C3 in the mathematical model of the loader is
determined using a set of quantities:
Cp3 ¼ f a3 ; b3 g ð4Þ
123
 Iran J Sci Technol Trans Mech Eng

where a3, b3—the vectors, i.e. coordinates, of the centres of X

4
uw ¼ h i þ hw ð9Þ
the joints in which the hydraulic cylinders of the boom are i¼3
connected to the members of the kinematic pair of the drive
mechanism (Fig. 1). where hw—the angle of the direction of the digging resis-
The subset of transferable parameters of the drive tance in relation to the positive O4x4 axis of the local
mechanism C4 of the bucket in the mathematical model of coordinate system of the bucket system L4.
the loader is determined with a set of quantities: The direction and the sense of the digging resistance in
the absolute coordinate system are determined using the
Cp4 ¼ f a4 ; b4 ; a46 ; c36 ; c45 ; a44 g ð5Þ
unit vector of the digging resistance:
where a4, b4, a46, a44—the vectors, i.e. coordinates, of the ortW ¼ cos uw i þ sin uw j ð10Þ
centres of the joint in which the hydraulic cylinder of the
bucket, the two-arm lever and the coupling rod are con- Boundary digging resistances of the loader are the forces
nected with the members of the kinematic chain of the limited by the conditions of the stable operation of the
loader mechanisms; c36, c45—the kinematic lengths of the loader and the maximal capabilities of the drive mecha-
two-arm lever and the coupling rod. nisms. Boundary digging resistances limited by the sta-
The internal (generalized) coordinates of the mathe- bility of the loader are represented by two boundary
matical model of the loader kinematic chain are repre- digging resistances: (a) the boundary digging resistance
sented by angles hi (i = 3, 4) (Fig. 1) of the relative W1x determined from the conditions when the loader is not
position of the member Li in relation to the previous sliding in the plane of the support surface, and (b) the
member Li-1 upon rotation around the joint Oi axis. boundary digging resistance W1o determined from the set
Changing the length ci of the hydraulic cylinders of the conditions of the loader stability for potential rollover
drive mechanisms in the interval of boundary conditions lines.
ci=[cip, cck] changes the generalized coordinates hi in the The boundary digging resistance W1x, which is limited
interval hi=[hip, hik] as well, where hip—the initial and by the adherence force of the loader to the support surface,
hik—the final angle of the relative position of the member is determined from the condition that the support and
Li in relation to the previous member Li-1. movement mechanism of the loader, during digging, does
The relative angle of the movement range hio of the not slide in relation to the support surface: where m—the
member Li in relation to the previous member Li-1 is given total mass of the loader and lp—the adherence coefficient
by the difference: of the movement.
mg  lp
hio ¼ hik  hip ð6Þ W1x ¼ ð11Þ
jcos uw j
The position of the chain member Li in relation to the
The boundary digging resistance W1o, which is limited
horizontal OXZ plane of the absolute coordinate system is
by the static stability of the loader, is determined depend-
determined by the angle:
ing on the position of the loader kinematic chain and ortW,
X
i
from the balance conditions for one of the first rotary joints
ui ¼ hi 8 i ¼ 3; 4 ð7Þ
i¼3
O11, O12, whose axes represent the potential loader rollover
lines (Fig. 1):
W1o ¼
8
> Mo11 ðrw  r12 Þ  i ðrw  r11 Þ  i
>
< W11 ¼ ðr  r  ortWÞ  e 8 \ortW  i [
3 Digging Forces (resistances) w 11 1 jrw  r12 j jrw  r11 j
>
> Mo12 ðrw  r12 Þ  i ðrw  r11 Þ  i
: W12 ¼ 8 [ ðortW; iÞ\
The vector of the loader digging force F which lies in the ðrw  r12  ortWÞ  e1 jrw  r12 j jrw  r11 j

plane of the loader mechanisms and acts in the centre of the
bucket cutting edge has the same magnitude and direction,
but the opposite sense of direction in relation to the vector
of the digging resistance W:
F ¼ W ð8Þ
The direction of the digging resistance W in relation to
the horizontal OXZ plane of the absolute coordinate system
is determined by the angle:
ð12Þ
where rw—the vector of the position of the bucket cutting
edge centre, r11 ; r12 —the vectors of the centre of the
appropriate first rotary joint, e1 —the unit vector of the first
rotary joint (longitudinal z–z loader rollover lines), and
Mo11, Mo12—the moments of gravitational forces of the
members of the loader kinematic chain for the first rotary
joints O11, O12.

123
Iran J Sci Technol Trans Mech Eng

The moments of gravitational forces of the members of mechanism for certain joints Oi axes, when the bucket is
the loader kinematic chain for the first rotary joints O11, empty, is determined using the equation (Fig. 1):
O12 are determined using the following equation: 8
> P6 P4
8 >
< Mo3 ¼ g mk ððrtk  r3 Þ  kÞ  e3 þ Mock
> X6 X4
Moi ¼ 
k¼3 k¼3 
>
> Mo11 ¼ g mk ððrtk  r11 Þ  kÞ  e1 þ Mock > 1
>
< >
: Mo4 ¼ g  m4 ððrt4  r4 Þ  kÞ þ  m5 ððrt5  r5 Þ  kÞ  e4
k¼1 k¼3 2
Mo1 ¼
>
> X6 X4 ð16Þ
>
> Mo12 ¼ g mk ððrtk  r12 Þ  kÞ  e1 þ Mock
:
k¼1 k¼3 The potential resistance Wm, i.e. the digging force Fm,
ð13Þ represents the minimal resistance (force) from the set of
boundary digging resistances (forces) (Takahashi et al.
where rtk—the vector of the mass centres of the kinematic 2004):
chain members and Mock—the moments of the gravita-  
F~m  ¼ Wm ¼ minð W1o ; W1x ; W3 ; W4 Þ ð17Þ
tional forces of the actuators (hydraulic cylinders) of the
loader mechanisms.
The boundary digging resistances Wi (i =3, 4) that can
be overcome by the loader mechanisms, for the known W1
4 Directed Digging Force
and the position of the loader kinematic chain subjected to
the maximal drive moments Mpimax, are determined from
The directed digging force Fu is defined for the entire
the balance conditions for the axes of the loader mecha-
working range of the loader, using the following equation:
nisms joints Oi (i =3, 4) (Fig. 1): PN3 PN4 PNw
Mpimax  Moi kxy  kw  Fmskw
Wi ¼ 8 i = 3,4 ð14Þ Fu ¼ kh s¼1 k¼1 w¼1 ð18Þ
ððrw  ri Þ  ortWÞ  ei N3  N4  Nw

where Mpimax—the maximal drive moments and Moi—the
moments of gravitational forces of the kinematic chain
members and the members of the loader drive mechanisms
for certain joints Oi axes.
The maximal drive moments Mpimax of the loader
mechanisms for both directions (when the piston rod in the
hydraulic cylinder is drawn in and when it is drawn out)
are:
where Fmskw—the magnitude of the possible digging force,
with the indices which show that the force relates to a
particular position of the loader boom (s) and bucket
(k) and a particular direction of the digging force (w), kw—
the factor of the digging force direction, kxy—the factor of
the position of the digging zones in the working range of
the loader, kh—the factor of the digging scope in the dig-
ging range of the loader, N3—the selected number of boom

8
> d2 p
< Mpi1max ¼ sign ðh_ i Þ  rci  nci i1 pmax 8 i ¼ 3; 4 h_ 3 [ 0; h_ 4 \0
Mpimax ¼  42 2
 ð15Þ
>
:M _ di1  di2 p
pi2max ¼ sign ðhi Þ  rci  nci pmax 8 i ¼ 3; 4; h_ 3 \0; h_ 4 [ 0
4

where rci—the transferable function of the drive mecha-
nism which depends on the generalized coordinates, i.e. the
length of the hydraulic cylinder, the lengths of the coupling
rods (if the mechanism possesses any) and the vectors, i.e.
coordinates, of the centres of the joints in which hydraulic
cylinders and coupling rods are connected to the members
of the drive mechanism kinematic pair (Janošević et al.
2014), pmax—the maximal pressure of the hydrostatic
system of the loader, and h_ i —the angular velocity of the
generalized coordinates.
The moment of gravitational forces of the kinematic
chain members and the members of the loader drive
positions in its digging scope, N4—the selected number of
bucket positions in its digging scope, for a specific number
of loader boom positions, and Nw—the selected number of
the directions of the digging resistance for a specific
position of the bucket.
The defined directed digging force represents, for the
entire working range of the loader, a mean value of the
potential digging force corrected by the factors which take
into account the importance of: (a) the size of the working
range of the loader, (b) the direction of the digging force,
and (c) the digging position in the digging range of the
loader.

123
 Iran J Sci Technol Trans Mech Eng

4.1 The Factor of the Direction of the Digging 8

> ðxw  xw1 Þð1  kx1 Þ
>
> þ kx1 8 xw1  xw  xw2
Force kw < xw2  xw1
kx ¼ 1 8 xw2 \xw \xw3
>
> ðx  xw Þð1  kx4 Þ
Research has shown that for a loader the direction in which >
: w4 8 xw3  xw  xw4
the digging force acts is a variable and random quantity. ðxw4  xw3 Þ
Therefore, when defining the directed digging force, factor ð21Þ
kw is introduced to take into account the direction of the 8
<1 8 Yk  yw  yw1
digging force, and its value can be both constant (Fig. 2a)
ky ¼ ðyw2  yw Þð1  ky2 Þ ð22Þ
or variable (Fig. 2b) within the boundaries 0B (kw (hw)- : 8 yw1  yw  yw2
yw2  yw1
B 1) depending on the digging technology and the change
in the angle of the direction of the digging resistance in the The defined factors of the digging position, Eqs. (21)
interval hw= [0, 360]. and (22), assign a greater importance to the digging forces
For the digging technology which involves bucket in the working range zones where most of the primary
scooping, the variable value of the factor of the direction of work technology of the loader is carried out by scooping
the digging force is defined using the following equation the material with the bucket.
(Fig. 2b):
4.3 The Factor of the Digging Scope kh
kw1 \1 8 hwk \hw \hwp
kw ¼ ð19Þ
1 8 hwp  hw  hwk
When determining the directed digging force, what is taken
where hwp, hwk—chosen boundary angles of the direction into account is the relative size of the entire working range
of the digging force of the loader using the factor of the digging scope kh which
The factor of the direction of the digging force deter- is defined by the following relation (Fig. 3):
mined by Eq. (14) assigns a greater importance to the h3o þ h4o
digging forces in the direction around the direction of the kh ¼ ð23Þ
h3or þ h4or
digging speed, i.e. the directions which correspond to the
primary work technologies (material scooping), in relation where h3o, h4o—the angles of the total scope of the relative
to the digging forces in the other possible directions at movement of the loader boom and bucket and h3or, h4or—
secondary work technologies (material grinding, surface the reference constant angles of the scope of the relative
flattening). movement of the boom and bucket (Janoševic et al. 2012).

4.2 The Factor of the Digging Position kxy

During their life cycles, loaders do not use all of the zones
of their working range equally, but only some of them
where the primary digging technology of material scooping
is most often performed. Taking into account the impor-
tance of the most frequent zones in which a loader oper-
ates, when determining the directed digging force, the
factor of the digging position kxy is defined using the fol-
lowing equation (Fig. 3):
kxy ¼ kx  ky ð20Þ
where kx, ky—the factors of the digging position depending
on the horizontal and vertical coordinates of the centre of
the bucket cutting edge.
Values of the factor of the digging position can be
constant (Fig. 3a) or variable (Fig. 3b) within the bound-
aries 0 B (kxy (xw, yw) B 1) depending on the coordinates
xw, yw of the centre of the bucket cutting edge for the entire
working range of the loader.
For the digging technology which involves bucket
scooping, the variable value of the factor of the digging
position is defined using the following equations (Fig. 3b):
5 Example
For optimal synthesis of the loader mechanisms for the
loader with Z kinematics, a software package is developed
which, among other things, comprises (Janošević et al.
2014):
• software for the generation of variant solutions of the
kinematic chain,
• software for the optimal synthesis of the loader
mechanisms.
The software for the optimal synthesis of the loader
mechanisms uses a multi-criteria optimization procedure
where the most important criterion is the one based on the
defined directed digging force.
This importance of the defined directed digging force is
emphasized in the example of the results of the optimal
synthesis of the loader mechanisms in the wheel loader
with Z kinematics of 15,000 kg in mass and 2.7 m3 in
bucket capacity.
The synthesis procedure first yields a database with 410
possible variant solutions of the kinematic chain and loader

123
Iran J Sci Technol Trans Mech Eng

Fig. 3 Correction factors of the

digging force position

Table 1 Input quantities given boundary working range of the loader, the given
declared digging forces, and the elastic stability of the
Input quantities Value
hydraulic cylinders of drive mechanisms (Hydraulic
Bucket volume Vk = 2.7 [m3] cylinder mill type 2013).
Digging depth Yk = - 0.105 [m] By using the developed software for the optimal syn-
Horizontal reach Xi = 1.0 [m] thesis of the loader mechanisms, for each of the possible
Vertical reach Yi = 2.9 [m] variant solutions, directed digging forces are determined
Angle of unloading ai = 45 [] for constant and variable values of the correction factors kh,
Pressure of hydrostatic system pr = 30.5 [MPa] kw, and kxy.
Declared digging force Fd = 140 [kN] In the first case of the analysis for every possible variant
solution, a directed digging force is determined for the
same constant values of the correction factors:
kh= kw= kxy= 1.
mechanisms using the developed software to generate the In the second case of the analysis for every possible
variant solutions on the basis of the given quantities variant solution, a directed digging force is determined for
(Table 1). variable correction factors kh, kw, and kxy, according to
During the generation of variant solutions, the database Eqs. (19), (21), (22), and (23), with the values of boundary
of the scope of changes in the coordinates of the joints in quantities given in Table 2.
which coupling rods are connected to hydraulic cylinders For the sake of a clearer comparison, the coefficients of
of loader mechanisms, and the database of the available the directed digging force are determined for every possi-
sizes of (standard) hydraulic cylinders of loader mecha- ble variant solution of the loader mechanisms as the
nisms are set as the area of optimization. All possible relation:
variant solutions meet the limitations which relate to: the

123
 Iran J Sci Technol Trans Mech Eng

Table 2 Given boundary values of variable correction factors

kw kx ky kh
kw1 [-] hwp [] hwk [] kx1 [-] kx4 [-] xw1 [m] xw2 [m] xw3 [m] xw4 [m] ky2 [-] yw1 [m] yw2 [m] h3or [] h4or []

0,2 100 300 0.2 0.4 3.0 4.0 4.5 5.0 0.2 3.0 5.0 90 60

Fig. 4 Coefficients of the

directed digging force of the
variant solutions of drive
mechanisms determined with:
a constant and b variable
correction factors kh, kw, and kxy

Table 3 Parameters of the

Variants d31 [mm] d32 [mm] c3p [mm] c3k [mm] x23 [mm] y23 [mm] x33 [mm] y33 [mm]
boom drive mechanism
A (213) 125 90 1192 1545 668 847 1760 - 35
B (320) 125 90 1280 1636 854 864 1730 25

Table 4 Parameters of the bucket drive mechanism

Variants d41 d42 c4p c4k a46 a65 a65 a5 a45 a45 x36 y36 x24 y24
[mm] [mm] [mm] [mm] [mm] [mm] [] [mm] [mm] [] [mm] [mm] [mm] [mm]

A (213) 140 90 1336 1715 722 857 10 722 406 91.67 1663 583 1052 1074
B (320) 140 90 1280 1536 541 902 26.66 767 496 93.34 1654 567 1043 1028

Fu The comparative analysis shows that the coefficients of

kFu ¼
Fumax
where Fu—the directed force of the variant solution and
Fumax—the directed force of the variant solution with the
highest value of the directed digging force.
ð24Þ
the directed digging force have different values for the
same variant solution of the kinematic chain and the loader
mechanisms (nv) (Fig. 4) of the loader in the case of con-
stant (Fig. 4a) and variable (Fig. 4b) values of the correc-
tion factors kh, kw, and kxy.

123
Iran J Sci Technol Trans Mech Eng

Fig. 5 Transferable functions rci of drive mechanisms: a boom C3 and b bucket C4 of variant A and variant B loaders

To show the characteristics and possibilities of the
defined directed digging force, a part of the results of the
comparative analysis of digging forces is given for the
characteristic loader variants A (nv = 213) and B (nv = 320)
selected from the set of generated solutions. The selected
variant A has a significantly higher coefficient of the
directed digging force for the variable values of the cor-
rection factors when compared to the constant ones, while
variant B gives opposite results.
The analysed loader variants have the same parameters
of the kinematic chain members and different parameters
of the loader mechanisms. Variants A and B of the loader

Fig. 6 Spectra of possible

digging forces of loader
variants: a A and b B

123

mechanisms have the same diameters of pistons and piston
rods in the hydraulic cylinders (Tables 3, 4), but different
transferable functions (Fig. 5), i.e. different coordinates of
the centres of the joints in which hydraulic cylinders and
coupling rods are connected to the members of the kine-
matic chain.
The importance of the criterion of optimization based on
the directed digging force is also emphasized by the
comparative analysis of the spectrum (Fig. 6) of the pos-
sible digging forces in the entire digging range of variant
A (Fig. 6a) with a higher and variant B (Fig. 6b) with a
lower coefficient of the directed digging force during the
analysis with variable correction factors.
The spectra of possible digging forces show that variant
A with a higher coefficient of the directed digging force is a
better solution than variant B, since it has a larger working
range with much larger zones which correspond to the
primary work technology where greater possible digging
forces can be exerted. The performed analysis shows that
the optimal solution of the loader mechanisms corresponds
to the variant with the highest coefficient of the directed
digging force and variable correction factors, which assign
adequate importance to the position and applied technology
of material scooping in the working range of the loader.
6 Conclusions
The directed digging force defined in this paper represents
a contribution to the development of the digging efficiency
indicators for loaders in their entire working range. In the
comparative analysis of possible variant solutions of the
same-size loaders, the defined digging force with the
introduced correction factors shows: (a) the extent to which
the activities of the loader mechanisms are in agreement
both among each other and in relation to the limitations set
by the stability of the loader, and (b) the extent to which the
maximal possibilities of the active functioning of the loader
mechanisms are directed towards the desired zones of the
working range and the expected directions of digging
resistances.
The defined directed digging force can be used for the
assessment of the digging efficiency of already created
models of loaders, but also as an optimization criterion in
the synthesis of the loader mechanisms in new models of
loaders and other mobile machines.
Acknowledgement The paper was done within the project TR 35049
financed by the Ministry of Education and Science of the Republic of
Serbia.
123
Iran J Sci Technol Trans Mech Eng
References
Cao X, Cleghorn W (2011) Parametric optimization of eight-bar
mechanism of a wheel loader based on simulation. Inf Technol J
10(9):1801–1808
Hydraulic cylinder mill type (2013) Bosch Rexroth AG, Zum
Eisengießer 1, 97816 Lohr am Main, Germany, Specification
data
Janoševic D, Mitrev R, Andjelkovic B, Petrov P (2012) Quantitative
measures for assessment of the hydraulic excavator digging
efficiency. J Zhejiang Univ Sci A (Appl Phys Eng) 13:926–942
Janošević D, Pavlović J, Jovanović V, Milić P (2014a) Kinematic and
dynamic simulation of the wheel loaders with the Z-bar working
mechanism. IMK-14 Res Dev Heavy Mach 20(2):39–46
Janošević D, Pavlović J, Jovanović V, Milić P, Petrović N, Marković
S (2014) Softverski paket za optimalnu sintezu pogonskih
mehanizama manipulatora utovarivača’’ (Software package for
optimal synthesis of loader manipulator powertrains). Technical
solution, Faculty of Mechanical Engineering, University of Niš,
Niš, Serbia
Li Y, Liu W, Frimpong S (2015) Compound mechanism modeling of
wheel loader front-end kinematics for advance engineering
simulation. Int J Adv Manuf Technol 78(1):341–349
Shen J, Wang G, Bi Q, Qu J (2013) A comprehensive genetic
algorithm for design optimization of Z-bar loader working
mechanism. J Mech Sci Technol 11(27):3381–3394
Shigeru S, Hisashi O, Yusuke H, Gen M, Takashi T (2001) Motion
control for bucket of wheel loader based on shape of pile and
resistance force. In: Proceedings of 18th international sympo-
sium on automation and robotics in construction and mining,
Krakow, Poland, pp 1–6
Shin K, Lee S, Shin H, Yoo Y, Kim J (2012) Coupled linkage system
optimization for minimum power consumption. J Mech Sci
Technol 26(4):1099–1106
Surface vehicle standard (1992) SAE J732, Handbook, Society of
Automotive Engineers, USA
Takahashi H, Tsukamoto Y, Nakano E (1999) Analysis of resistive
forces acting on the bucket of LHD in the scooping task. In:
Proceedings of the 16th international symposium on automation
and robotics in construction—ISARC, Madrid, Spain,
pp 517–522
Takahashi H, Morikawa Y, Tateyama Y, Fukagawa R (2004) Study
on the mechanism of over-head-type load-haul-dump with a
vessel. J Terramech 41(2–3):175–185
Takahashi Y, Yasuhara R, Kanai O, Osumi H, Sarata S (2006)
Development of bucket scooping mechanism for analysis of
reaction force against rock piles. In: Proceedings of the 23rd
international symposium on automation and robotics in con-
struction—ISARC, Tokyo, Japan, pp 476–481
Worley MD, La Saponara V (2008) A simplified dynamic model for
front-end loader design. Proc Inst Mech Eng Part C J Mech Eng
Sci 222(11):2231–2249
Yu Y, Lianguan S, Mujun L (2010) Optimum design of working
device of wheel loader. Proceedings of first international
conference mechanic automation and control engineering MACE
2010, Wuhan, China, pp 461–465
Zhang R, Qi J, Cai Y (2007) Optimum design of the working
mechanism of loader with ant colony algorithm (ACA). In:
Proceedings of fourth international conference on mechatronics
and automation ICMA, Harbin, China, pp 3066–3070