MHCL 2026 conference
50th Anniversary (1976–2026)

Section: Construction and Mining Equipment and Technologies
Abstract: The paper contains mathematical model of wheel loader on which basis is defined directed digging force as optimization criteria of loader's manipulator powertrain. The model is defined by the four-member  kinematic chain configuration, consists of: rear and front support-moving mechanism  and manipulator with: an arm and bucket. Manipulator is empowered by lever mechanism of arm and a drivetrain mechanism of the bucket wich for actuators have  two-way hydraulic cylinders. Directed digging force is defined on the basis of boundary digging forces out from the stability condition and out from efficiency of mechanical mechanism of machine in the whole working area. Whereby is introduced a factor of significance digging position in the work area and the factor of direction and operating direction of possible resistance to digging. As an example, results of comparative analysis of directed digging forces is shown for varinats solutions of powertrains mechanism for wheel loader which weight is 15,000 kg and volume of the bucket is 2.7 m3 .

Dragoslav Janošević
Full-Professor, Ph.D.
University of Nis
Faculty of Mechanical Engineering

Jovan Pavlović
Ph.D. student
University of Nis
Faculty of Mechanical Engineering

Vesna Jovanović
Ph.D. candidate
University of Nis
Faculty of Mechanical Engineering

Nikola Petrović
Teaching assistant
University of Nis
Faculty of Mechanical Engineering