Abstract
In order to automate the scooping task of piled fragment rocks by using the wheel loader or Load-Haul-Dump, it is desirable that the resistive forces acting on the bucket are obtained before the scooping task is performed. However, the resistive forces acting on the bucket are not made clear yet because the changes in shape of the rock pile due to the movement of the bucket are unknown. In this paper, the changes in shape of the rock pile due to the movement ofthe bucket were simulated by use of DEM (Distinct Element Method), and the resistive forces acting on the bucket were calculated. Through the numerical simulation, the changes in shape of the rock pile due to the movement of the bucket were made clear. Furthermore, by comparing the experimental results and simulated results, it was found that the agreement was almost satisfactory. Therefore, it was confirmed that DEM simulation was useful to estimate the resistive forces acting on the bucket.
