Modelling Cable Shovel Geometry and Kinematics

ABSTRACTA series of algorithms were developed to perform geometric and kinematic analyses of cable shovel dipper-ground interactions for a given set of mining face conditions. The routines examine and analyze (a) the position of the dipper in relation to the shovel; (b) the dipper in relation to the face conditions; (c) the dipper position in relation to possible interference or collision with crawler tracks during digging cycles; and (d) kinematic and geometric considerations with respect to any point on the dip-per as it conducts a duty cycle. In all cases, field measurement verifcation provided good agreement(within 4% variance).