Modeling and

Vibration Analysis
Of
An Excavator
By
Mikel Kanaan

Mechanical Engineering Department

Bradley University
Faculty: Dr. Sam Kherat

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Notations:
l = Length (m)
M,m = Mass (kg)
K = spring constant (N/𝑚)
w = Natural frequency
λ = eigenvalue
g = gravitational acceleration (m/sec^2)

Experimental data:

M= 19200 kg
m = 200 kg
K1= 100 KN/m
K2= 200 KN/m
J = 150000 kg.m^2
L1= 4 m
L2= 2 m

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Index:

Abstract 4
Introduction 5
Calculations 6
Conclusion 11
References 11

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 1. Abstract:

The aim of this project is to analyze a CAT excavator specifically

the 316D excavator. The machine is equipped with a drill that
add additional vibration to the system. The drill is simulated by
a mass with a sinusoidal movement. The rough terrain is
neglected in order to simplify the analysis. The conditions that
the excavator will meet is assigned and the equation of motion
set up. Solutions for the EOM are derived; first analytically then
a homogeneous solution and finally a particular solution. In
addition, the system is simulated using Simulink. Due to lacking
literature some experimental data were assumed.

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 2. Introduction:

Every piece of equipment needs to have a vibration analysis

made on it in order to make sure that it can operate safely
under the work conditions it might encounter especially when
the work conditions are dangerous. This CAT wheel excavator
has a changeable arm that can be either a jackhammer or a
bucket. The jackhammer option was chosen since it adds to the
vibration analysis more than the bucket. This vehicle is made
for rough terrain and that has to come in play in real life but the
focus of this report was on the drill along with the stiffness of
the tires and the mass of the excavator.
CAT has invested a lot of time and money in researching what
would happen to its machines in different scenarios to make
sure of the safety and comfort of the operator in addition to
the surrounding personnel.
a. Problem definition
This a study of an existing machine which is modelled
as an undamped beam supported by 2 springs and
has a drill which will be modelled as moving rotary
mass.

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 3. Calculations:
The system modelled as:

With a differential equation of motion:

𝑚 0 𝑥̈ 𝑘1 + 𝑘2 𝑘2 𝑙2 − 𝑘1 𝑙1 𝑥 𝑓(𝑥, 𝑡)
[ ] [ ̈ ]+[ ] [ ]=[ ]
0 𝐽 𝜃 𝑘2 𝑙2 − 𝑘1 𝑙1 𝑘1 𝑙 21 + 𝑘2 𝑙 2 2 𝜃 0
For simplicity, we’ll take
𝑘2 𝑙2 = 𝑘1 𝑙1

For a homogeneous solution

f(x,t)= 0

For x=Xsint and θ=Ѳsint

𝑘1 + 𝑘2 − 𝑚𝜆 𝑘2 𝑙2 − 𝑘1 𝑙1
| |=0
𝑘2 𝑙2 − 𝑘1 𝑙1 𝑘1 𝑙 21 + 𝑘2 𝑙 2 2 − 𝐽𝜆

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Using Matlab, the eigenvalues are found to be:
𝜆1 =(j*k1 + j*k2 + (j^2*k1^2 + 2*j^2*k1*k2 + j^2*k2^2 + 2*j*k1^2*l1^2*m -
2*j*k1*k2*l1^2*m - 8*j*k1*k2*l1*l2*m - 2*j*k1*k2*l2^2*m + 2*j*k2^2*l2^2*m
+ k1^2*l1^4*m^2 + 2*k1*k2*l1^2*l2^2*m^2 + k2^2*l2^4*m^2)^(1/2) +
k1*l1^2*m + k2*l2^2*m)/(2*j*m)

𝜆2 = (j*k1 + j*k2 - (j^2*k1^2 + 2*j^2*k1*k2 + j^2*k2^2 + 2*j*k1^2*l1^2*m -

2*j*k1*k2*l1^2*m - 8*j*k1*k2*l1*l2*m - 2*j*k1*k2*l2^2*m + 2*j*k2^2*l2^2*m
+ k1^2*l1^4*m^2 + 2*k1*k2*l1^2*l2^2*m^2 + k2^2*l2^4*m^2)^(1/2) +
k1*l1^2*m + k2*l2^2*m)/(2*j*m)

With the knowledge that the natural frequencies are

𝟏⁄
𝝀 𝟐
[ 𝟏]
𝝀𝟐
Using the previous assumptions made for m, J, k1, k2, l1 and l2
we find
𝑤1 4
[𝑤 ]=[ ]rad/sec
2 3.9

Now to model the attached arm connected to the excavator, I

decided to model it as a rotor excitation.

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Where the equation of motion is acquired from:
m𝑥̈ =H - 𝑘1 𝑥 − 𝑘2 𝑥
𝑚0 (𝑥̈ + 𝑦̈ ) = −𝐻

Adding them will get

𝑚 + 𝑚0 −𝑚0
𝑥̈ + 𝑥 = 𝑦̈
𝑘1 + 𝑘2 𝑘1 + 𝑘2
Where x=𝑋0 sin(wt+β)
Y=𝑌0 sin(wt)

The steady state solution would be

2
𝑤
𝐶𝑌0 ⁄ 2
𝑤 𝑛
𝑋0 = 2
1−𝑤 ⁄ 2
𝑤 𝑛

𝑚0
Where C=
𝑚+𝑚0

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 X/CY
6

0
X/CY

0.1 1.1 2.1 3.1 4.1 5.1 6.1 7.1 8.1

-2 X/CY

-4

-6

-8
r

Using Simulink to model the system we get

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 4. Conclusion:

As more machines are made, vibration analyses are important

testing requirements to insure that the frequencies won’t
approach resonance. In addition, the frequencies must be
appropriate for comfort and practicality so this would tell us if
dampers are needed in the system.

5. References:

 Theory of vibration with applications 5th edition

 http://www.brown.edu/Departments/Engineering/Co
urses/En4/Notes/vibrations_forced/vibrations_forced
.htm
 http://www.cat.com/en_US/products/new/equipme
nt/wheel-excavators/wheel-
excavators/18115446.html

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