Dynamic Stability Evaluation of Excavators Using IMU Measurements and ZMP Analysis

Excavators are widely used in construction sites but are vulnerable to rollover accidents due to uneven terrain and load variations.This study evaluates the feasibility of assessing excavator rollover risk using inertial measurement unit (IMU) sensors and the Zero Moment Point (ZMP) concept.A 1:16 scaled excavator model equipped with IMU sensors was used to collect acceleration and angular velocity data, from which ZMP coordinates were calculated to analyze stability.Experiments were conducted under flat ground conditions, slope angles of 10, 20, and 30, and bucket load variations of 150 g, 300 g, and 450 g.Multibody dynamic simulations using RecurDyn were also performed to validate the experimental results, and calibration coefficients were derived to improve accuracy.The results showed that the ZMP moved toward the boundary of the support polygon as slope angle and load increased, shifting to the risk region during rollover events.The study demonstrates the potential of IMU-based ZMP analysis for excavator stability assessment.