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Analysis of forces in the hydraulic walking mechanism

The excavator-dragline is an integral unit for conducting stripping and excavation work in coal mines and quarries for the extraction of construction minerals. The use of such machines in quarries allows for the application of non-transport technology for the extraction of valuable minerals, which significantly reduces the cost of the product. Powerful excavatordraglines, due to their large mass, are equipped with a special walking mechanism, which ensures low specific pressure on the ground both during stationary work and during movement. The most powerful models of draglines are equipped with a hydraulic drive walking mechanism. The present study focuses on analyzing the kinematics of motion and forces occurring in the walking mechanism of a hydraulic-driven excavator. The main objective is to determine the moment when the highest forces occur in the traction and lifting hydraulic cylinders, as well as to determine the direction and magnitude of the reaction at the joint of the supporting shoe during the stepping process. The method of constructing force polygons is employed to achieve this goal. The obtained results of kinematic analysis and force characteristics of the walking mechanism will serve as a basis for further research on this mechanism. The findings of the study will allow for a more detailed examination of the behavior of the walking mechanism and optimize its operation.

Keywords: single-bucket excavator, dragline, walking mechanism, hydraulic drive, quarry, analysis of forces.
For citation:

Suslov N. M., Chernuhin S. A., Kaljanov A. E. Analysis of forces in the hydraulic walking mechanism. MIAB. Mining Inf. Anal. Bull. 2024;(1-1):140—152. [In Russ]. DOI: 10.25018


Issue number: 1
Year: 2024
Page number: 140-152
ISBN: 0236-1493
UDK: 621.879.323
DOI: 10.25018/0236_1493_2024_011_0_140
Article receipt date: 15.05.2023
Date of review receipt: 14.11.2023
Date of the editorial board′s decision on the article′s publishing: 10.12.2023
About authors:

Suslov N. M., Dr. Sci. (Eng.), Professor at the Department of Mining machines and complexes, e-mail:;
Chernuhin S. A., Cand. Sci. (Eng.), Associate Professor at the Department of Mining machines and complexes, ORCID iD: 0000-0003-3423-6129, e-mail: stas_chernuhin@ (сorresponding author);
Kaljanov A. E., Cand. Sci. (Eng.), Associate Professor at the Department of Mining machines and complexes, ORCID iD: 0009−0008−69050416, e-mail: kalyanov.alexandr@


For contacts:

Chernuhin S. A., e-mail: stas_chernuhin@


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