optimization of manipulator drive mechanisms of hydraulic excavators on the basis of the tribological criterion

The paper analyzes functional, structural and tribological parameters of kinematic pairs (joints) of the kinematic chain and manipulator drive mechanisms in hydraulic excavators. on the basis of the conducted analysis the tribological criterion is defined, as one of a number of criteria, for the optimal synthesis of manipulator drive mechanisms in hydraulic excavators. the criterion indicator is determined as a mechanical degree of efficiency of drive mechanisms, to reflect the tribological loss of power of the excavator drive system due to friction between the elements of the joints in manipulator drive mechanisms. as an example, the paper provides experimental results of tribological research and tribological criterion indicators during examination and synthesis of manipulator drive mechanisms in a hydraulic excavator of 17,000 kg in mass.