Large hydraulic excavators are usually used in large-scale infrastructure projects in open-pit mining areas and in the field. Because of heavy load and poor road conditions, crawler walking system is widely used. The design of traditional crawler mechanical structure and the matching design of walking hydraulic system are based on the empirical method, while the crawler drive is similar to the chain drive. Due to the fit clearance of the hinge point and the polygonal effect of the chain drive, there is a large load fluctuation in the movement process. The traditional calculation method does not consider the influence of this part of dynamic force on the hydraulic system.
In recent years, virtual prototype design method has been widely used in the design of crawler walking system. Some of them analyze the ground pressure of the crawler system through the crawler model established in ADAMS. Some add Beck ground model to track model through secondary development. Some use RecurDyn software to build the sub model library of the track, and greatly improve the calculation speed of the track model through recursive algorithm. However, the existing methods are mainly used in the analysis of the dynamic model, and seldom consider the interaction between the crawler and the hydraulic drive system.
