Development of tipping-over rate computation system for hydraulic excavator having crane function

This paper deals with tipping over of hydraulic excavator's crane work. If the excavator lifts too heavy weight, the excavator will be tipped up. This accounts for 38% of whole excavator accidents. In this paper, tipping-over load which is the maximum load the excavator can lift with displacement of excavator links, real load and tipping-over rate are computed with zero moment point theory. ZMP is verified with simulation and experiment.