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

Ryota Yoneyama, Takuya Omura, Genya Ishigami

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル19th International and 14th European-African Regional Conference of the ISTVS
編集者Peter Kiss, Laszlo Mathe
出版社International Society for Terrain-Vehicle Systems
ISBN(電子版)9781942112495
出版ステータスPublished - 2017
イベント19th International and 14th European-African Regional Conference of the International Society for Terrain-Vehicle, ISTVS 2017 - Budapest, Hungary
継続期間: 2017 9 252017 9 27

出版物シリーズ

名前19th 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

ASJC Scopus subject areas

  • Automotive Engineering

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