Dynamic Stability Analysis of an Electric Rope Shovel

Stability of multi-body heavy machinery under dynamic conditions is an important issue for their safe operation and improved productivity. This paper explores the concept of Zero Moment Point (ZMP) to analyze the dynamic stability of an Electric Rope Shovel. A simulation setup of an Industry graded Electric Shovel (Komatsu P&H 4100XPC AC) consisting of a simplified model of the electric shovel is proposed in this work. For the purpose of justifying the simplified model, a comparison between simulation and analytical results has been presented. To emphasize the significance of dynamic stability, parametric studies with regard to various motion requirements of critical maneuvers have been presented, and the extent of ZMP movement has been contrasted with the Center of Gravity of the system. On the basis of the parametric study of the simulation setup, design methodologies are proposed to increase maximal payload capacity and decrease system operation time without requiring an external anchoring mechanism, thus increasing the efficiency of the operation and decreasing the cost.