Modeling of bucket-soil interaction mechanics based on improved resistive force theory

Ryota Yoneyama, Takuya Omura, Genya Ishigami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A high-fidelity simulator for a construction machine particularly contributes to an unmanned construction system since the simulator efficiently manages and schedules tasks required for the machines in a systematic way. Besides, the simulator also provides a virtual reality as a training platform for an operator for tele-operated unmanned construction machine. The simulator is generally subject to a well-known trade-off between computational burden and simulation accuracy. Therefore, the main scope of this research is to establish an accurate and computationally efficient simulator for an excavator, and particularly this paper focuses on an interaction model of an excavator bucket. An accurate excavation mechanics is of a key issue to characterize dynamic motion of the excavator. The model developed in this paper basically exploits the Resistive Force Theory with considering soil surcharge while excavating. The proposed model is experimentally validated in different types of excavation motion using a bucket experimental apparatus.

Original languageEnglish
Title of host publication19th International and 14th European-African Regional Conference of the ISTVS
EditorsPeter Kiss, Laszlo Mathe
PublisherInternational Society for Terrain-Vehicle Systems
ISBN (Electronic)9781942112495
Publication statusPublished - 2017 Jan 1
Event19th International and 14th European-African Regional Conference of the International Society for Terrain-Vehicle, ISTVS 2017 - Budapest, Hungary
Duration: 2017 Sep 252017 Sep 27

Publication series

Name19th International and 14th European-African Regional Conference of the ISTVS

Other

Other19th International and 14th European-African Regional Conference of the International Society for Terrain-Vehicle, ISTVS 2017
CountryHungary
CityBudapest
Period17/9/2517/9/27

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Keywords

  • Bucket excavator
  • Bucket-soil interaction
  • Resistive Force Theory

ASJC Scopus subject areas

  • Automotive Engineering

Cite this

Yoneyama, R., Omura, T., & Ishigami, G. (2017). Modeling of bucket-soil interaction mechanics based on improved resistive force theory. In P. Kiss, & L. Mathe (Eds.), 19th International and 14th European-African Regional Conference of the ISTVS (19th International and 14th European-African Regional Conference of the ISTVS). International Society for Terrain-Vehicle Systems.