Dynamics of grapple loaders equipment

Logging machines, including grapple loaders and mounted manipulators, are commonly equipped with hydro-mechanical devices in which hydraulic cylinders are used for mechanical drive of reciprocal motion. To study the dynamics of such devices it is necessary to derive a system of motion equations, to find reactions in mechanical joints, to take into account the fluid pressure in hydraulic cylinders, etc. This study is carried out for each specific device and is a complex and time-consuming process.