English Title: Proposal of Curved Penetration Trajectory for Reducing Excavation Energy Consumption and Derivation of Tiptoe Advance Direction

Abstract

Fuel consumption reduction is required at drilling sites in order to realize a decarbonized society. In this study, we focused on the penetration area, where energy consumption is particularly high, and derived a suitable trajectory using curvilinear penetration. As a result, it was suggested that it is possible to secure the target excavation volume and reduce energy consumption at the same time by adopting a toe entry direction that does not cause soil crushing. A possible application of this research is to integrate it with an automatic excavation system. By introducing a suitable trajectory into an automated excavation system, it is possible to simultaneously reduce both the cost and energy consumption of excavation by automating excavation.