Host: The Japan Society of Mechanical Engineers
Name : Dynamics and Design Conference 2019
Date : August 27, 2019 - August 30, 2019
This paper presents a dynamics simulation technique of the scattering operation for the wheel loader taking into consideration of both digging the soil and travelling on the soil, in which the multibody dynamics analysis is coupled with the Discreate Element Method(DEM). The dynamic behavior of the wheel loader in the scattering operation is demonstrated by using this technique, and the basic control technique of the bucket is presented for the autonomous scattering operation of the wheel loader. Firstly, the modelling technique of the soil in DEM is presented using the cohesive model proposed by Utili and Nova. Secondly, the digging experiments of the soil using by the wheel loader are conducted, and the measured digging forces are verified with the simulation ones. Next, the dynamics of the wheel loader are formulated by multibody dynamics theory, the co-simulation technique is carried out for the multibody system composed of rigid bodies. Finally, the dynamic simulations are carried out for the scattering operation of the wheel loader, in which the heights of the soil pile are parameters of the simulation. It is presented that the scattering operation is successfully conducted by controlling the bucket height according to the height of the soil pile. This analysis is useful for the autonomous scattering operation of the wheel loader.
