機械・土壌の相互力学モデルの構築を目的としたバケット掘削実験装置の開発と数値解析

抄録

The main scope of this research project is to establish a high-fidelity simulation framework for an unmanned construction system incorporated with an accurate interaction mechanics of bucket/crawler of the construction machine on loose terrain. The interaction mechanics in this research exploits two approaches: an empirical macroscopic method and a numerical microscopic one. The former one first measures dynamic responses of bucket excavation or crawler locomotion on terrain, and then formulates the dynamics with respect to terrain deformation. The latter one utilizes a computational method such as discrete/finite element methods to precisely clarify the physical response of terrain deformation. As a part of this project, this paper reports a development of a bucket experimental apparatus and its preliminary test results. A numerical simulation analysis using DEM/FEM of a bucket excavation is also presented.