知能化掘削機械に必要な掘削機構の解明 : 第2報, 実機バケットによる土の三次元掘削時の力学量測定方法の開発

概要

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In order to investigate the problems related to soil and construction machinery, such as a hydraulic excavator, an understanding of the physical interactions between the soil and the machine is essential. The purpose of this study is to experimentally examine actual excavation processes by observing various physical parameters, with the aim of realizing intelligent excavation machinery whose performance is not only to be automated but also optimized in terms of specific task criteria such as, energy consumption, operation time and excavation trajectory. In this article, we present experimental results using a real-sized bucket which is equipped with various sensing devices such as two-axis load cells and three dimensional stress cells. In accordance with the model bucket experiments reported in the previous study, two soil types were used, that is, sand and loam. Variations of the excavation forces/torques and stress distributions were measured during excavation.
一般社団法人日本機械学会の論文
1997-12-25