機械と土壌の相互力学に注目した建設ロボットの高精度シミュレーション

―個別要素法解析に基づくミクロアプローチ―

抄録

Current robots and construction machines can’t show better work performance in disaster area than indoor area. It is essential to develop the robot working adequately in extreme environment that developing a simulator, upgrading running performance and excavating system. Therefore, we try to a numerical analysis based on terramechanics, dealing with interaction between terra and machines, for gathering basic data to construct an excavation model. In this study, we aim to get complementary data for creating a soil excavation model by considering soil excavation forces behavior with discrete element method (DEM). Moreover, we try to a soil excavation analysis by using DEM for the multi-fingered hand that is going to be equipped on the autonomous construction robot.