A12 油圧ショベルのバケット軌跡による掘削性能評価(OS3 ロボットのダイナミクスと制御1)

概要

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Recently, automatic digging and remote control hydraulic excavator has been often studied from an productivity and safety standpoint. The productivity for the automatic digging algorithm is a moot point. The ultimate goal of this study is to figure out the digging performance by the simulation for the automatic digging process. Authors define the soil volume per the applied energy as productivity in this paper. At first, a miniature test device was developed to simulate the digging by the pre-programmed bucket tip trace. Besides, digging simulation model by two dimensional distinct element methods (2D-DEM) was developed. The simulation is validated by comparing with the digging test results of the miniature. As the result, it is obtained that the time histories of the reaction forces from the soil and the soil volume for several tip traces. Finally, it is quantitatively clarified that the productivity due to the tip trace.
一般社団法人日本機械学会の論文
2009-09-01