Analysis on the resistive forces acting on the bucket of a Load-Haul-Dump machine and a wheel loader in the scooping task

Hiroshi Takahashi, Minoru Hasegawa, Eiji Nakano

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)

Abstract

In order to automate the scooping task, it is desirable that the resistive force acting on the bucket is obtained before the scooping is performed. The objective of this study is to derive theoretically the resistive forces acting on the bucket during scooping of piled rock fragments. First, the changes in the shape of the rock pile due to the lifting of the bucket are modeled. Based on this model, the resistive forces acting on the bucket are considered theoretically. Finally, it is confirmed that the calculated results obtained using the model agree well with the experimental results.

Original languageEnglish
Pages (from-to)97-114
Number of pages18
JournalAdvanced Robotics
Volume13
Issue number2
DOIs
Publication statusPublished - 1998

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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