Force analysis for automation of the loading operation in an LHD-loader

“…The working mechanism-material force system can be established as in Figure 6, according to the change of the bulk materials' shape. The force received by the bucket is divided into five components [16], each of which varies with the different shoveling phase.…”

Section: External Force Received By the Bucketmentioning

confidence: 99%

Bucket Trajectory Optimization under the Automatic Scooping of LHD

et al. 2019

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We propose an optimal planning scheme of the bucket trajectory in the LHD (Load-Haul-Dump) automatic shoveling system to improve the effectiveness of the scooping operation. The research involves simulation of four typical shoveling methods, optimization of the scooping trajectory, establishment of a reaction force model in the scooping process and determination of optimal trajectory. Firstly, we compared the one-step, step-by-step, excavation and coordinated shoveling method by the Engineering Discrete Element Method (EDEM) simulation. The coordinated shoveling method becomes the best choice on account of its best comprehensive performance among the four methods. Based on the coordinated shoveling method, the shape of the optimized trajectory can be roughly determined. Then, we established a model of bucket force during the shoveling process by applying Coulomb's passive earth pressure theory for the purpose of calculating energy consumption. The trajectory is finally determined through optimizing the minimum energy consumption in theory. The theoretical value is verified by the EDEM simulation.In Section 2, we introduced the resistance force received by bucket, which is widely used in the process of scooping. In Section 3, we performed and compared four typical shoveling method simulations. In Section 4, we formulated the relation between energy consumption and insertion depth and then optimized the trajectory with minimum energy consumption.

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“…Hemami [1] proposed that the resistance force is resolved in five elemental resistance forces as shown in Figure 8. Summary definition of each element is as follows: f1 is weight of materials in the bucket.…”

Section: Considerations On Advancing Direction Of the Bucketmentioning

confidence: 99%

“…One of major method is similar to the computed torque method, which is used for control of serial link manipulators in assembling lines. In this method, the reference value for the control system is the estimation value of resistance force at the bucket based on soil-bucket interaction models [1] [2].…”

Section: Introductionmentioning

confidence: 99%

Motion Control for Bucket of Wheel Loader Based on Shape of Pile and Resistance Force

Sarata¹,

Osumi²,

Hirai³

et al. 2001

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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For autonomous scooping operation by wheel loader, a method for trajectory generation and motion control of bucket at scooping operation is proposed. Prior to scooping, threedimensional shape of pile is measured by stereovision system with two CCD cameras. The initial trajectory model is modified according to the shape of pile. During scooping, the control values for the actuators are arranged based on the resistance force. The proposed method is implemented on the experimental model. The results show that the adequate bucket control is performed by the proposed method. For effective scooping, the desirable direction of advancing of the bucket is discussed. .

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Force analysis for automation of the loading operation in an LHD-loader

Cited by 22 publications

References 3 publications

Digging and pushing lunar regolith: Classical soil mechanics and the forces needed for excavation and traction

Digging and pushing lunar regolith: Classical soil mechanics and the forces needed for excavation and traction

Bucket Trajectory Optimization under the Automatic Scooping of LHD

Motion Control for Bucket of Wheel Loader Based on Shape of Pile and Resistance Force

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