Shigen-to-sozai, Vol.117, No.8, pp.645-652.
Kinematics, Dynamics and Statics of Wheel
Loader during Scooping Process
-Study on implementing machine intelligence
into wheel loader (1st Report)-
Hai ZHANGa, Kazuhiko SATOa and Ken-ichi ITAKURAa
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a. Muroran Institute of Technology, 27-I, Mizumoto-cho, Muroran 050-8585, Japan |
| In order to provide capability of intelligent
control to the wheel loader, its motion during
the scooping progress is modeled and analyzed
on the basis of robotics. Motion of bucket
linkage along with translation of wheel loader
itself is presented by means of mechanical
manipulator with three-degree-of-freedom,
though the bucket linkage consists of twelve
joints and ten links, and it involves three
closed loops. The modeling of wheel loader
enables us to plan a set of trajectories
of three active joints in advance preceding
scooping. The modeling provides not only
kinematical information, but also a computational
tool to evaluate dynamical forces to actuate
all active joints in advance preceding scooping.
In addition to kinematics and dynamics, the
present paper also covers statics of the
bucket linkage, which formulates the reaction
at active joints against payload imposed
on the bucket during scooping. The results of motion analysis and statics are integrated into a computer program, which is capable of simulating the progress of scooping materials piled with various angle of slope. This paper finally describes the results obtained from a series of computer simulation in which the slope angle of piled material is varied from 25 to 45 degrees. |
| KEY WORDS: Wheel Loader, Machine Intelligence, Modeling, Computer Simulation |