Bandwidth maximizing design for hydraulically actuated excavators

Abstract: In this paper we address the optimal design of a multi-degree-of-freedom hydraulically actuated excavator for reducing vibration and improving dynamic bandwidth. We specifically consider the problem of maximizing the minimum fundamental frequency of a hydraulic excavator with respect to various actuator and structural design parameters, i.e. the piston areas of the hydraulic cylinders, and the masses and inertias of the mechanical links. An analytic gradient-based optimization algorithm, together with the design sensitivity equations, are derived. Detailed case studies involving a prototype hydraulic excavator are presented