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4, August 2012
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International Journal of Machine Learning and Computing, Vol. 2, No. 4, August 2012
during digging. The predicted forces can be used to model the The modeling of bucket is carried out by using the
closed loop behavior of a controller that servos the joints of Autodesk Inventor Professional version 9 based on the
the excavator. A function approximation scheme was bucket volume dimension of 300 mm length 300 mm
developed that is able to predict resistive forces based on width 300 mm depth as shown in Fig. 2(a). The bucket
experimental data. They examine three learning methods capacity is of digging out one and half of labor bowl at a time
(global regression, memory based learning and neural nets) approximately. The modeling of bucket is carried out to
and show how these differ in terms of performance using determine the swept volume which is useful for finding the
several criteria (accuracy, training time, prediction time and bucket rating capacity.
memory requirements) [5]. O. Luengo, S. Singh H. and
Cannon have presented a reformulated version of the
classical Fundamental Equation of Earthmoving often used IV. BUCKET RATTING
to model soil-tool interaction. The new model includes The purpose of bucket rating is to provide a uniform
consideration of previously unaccounted phenomena in the method for determining the SAE (Society of Automotive
interaction of an excavator bucket as it moves through soil. Engineer) rated capacity for hoe buckets. The calculations
Secondly, given that soil properties can vary even within a are based on the inside physical dimensions for the bucket
work site, they present an on-line method to estimate soil only, without use of optional side cutters, spill guards, teeth,
parameters from measured force data. Finally, they have or other accessories and without regard to bucket action
shown how the predicted resistive force is used to estimate provided by any specific machine. This standard applies to
bucket trajectories [3]. Xiangwu (David) Zeng, Louis hoe buckets on all excavators with a hoe attachment [7].
Burnoski, Juan, H. Agui and Allen Wilkinson has developed
an analytical model for accurately predicting the excavation A. SAE Struck Capacity
force that will be encountered by digging tools on the lunar SAE struck capacity is the volume of the bucket after it has
surface. The results are compared with that predicted by other been struck at the strike plane. The strike plane shall pass
available theories. Results of preliminary soil tests on lunar through the top back edge of the bucket and the cutting edge.
stimulant are also reported [6]. In the present work we
B. SAE Rated Capacity
followed the soil-tool model developed by O. Luengo and S.
Singh H. as a reference for our application [3]. SAE struck capacity is the sum of the SAE struck capacity
and the material heaped on the bucket at a 1:1 angle of repose.
This in no way implies that the hoe must carry the bucket
III. MODELING OF BUCKET oriented in this attitude, or that all material will naturally have
a 1:1 angle of repose refer to (2).
Vr = VS + V E (2)
(W f + W r )
V S = PArea (3)
2
L W2 W3 (4)
(b) VE = B f f
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Fig. 2. Modeling of bucket.
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International Journal of Machine Learning and Computing, Vol. 2, No. 4, August 2012
1 + cot cot ( + )
The total resistive force is the sum of the resistive force Nc =
(shear) experienced at a blade and the remolding force. Here, cos ( + ) + sin ( + ) cot ( + )
for the total resistive forces following two cases considered.
Case (A) Terrain profile is horizontal (Flat) cot + cot (8)
Nq =
cos ( + ) + sin ( + ) cot ( + )
Case (B) Terrain profile is uneven.
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International Journal of Machine Learning and Computing, Vol. 2, No. 4, August 2012
FS = d 2 w g N w + c w N c + V S g ( N g 1) (9)
1 + cot cot ( + )
Nc =
cos ( + ) + sin ( + ) cot ( + )
cot + cot
Nq =
cos ( + ) + sin ( + ) cot ( + )
(10) Fig. 6. Force vs. rack angle
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International Journal of Machine Learning and Computing, Vol. 2, No. 4, August 2012
VII. CONCLUSION
Based on peer review on soil-tool interaction, it is very
clear that almost all the related work carried out previously
by others is based on the FEE Provided by Reece. For our
application based on presented work, as solid blade friction
angle, soil friction angle, soil density & soil cohesion
increases, the total resistive force experienced at the blade is
also increases and As the side friction angle increases, the
Fig. 9. Force vs. soil density total resistive force experienced at the blade gets decreased.
As rack angle gets minimum (i.e.44 to 45), the total
resistive force exerted at the blade is minimum & changes as
it increase or decreases. As the additional rack angle
increases up to 25 the total resistive forces increases and
onwards it gets reduces. There is a linear relationship
between the swept volume and the total resistive force. These
relations of variables with total resistive are helpful for
design of controller that serves the joints of the excavator so
as to fill the bucket. It is also helpful for trajectory planning
for digging operation. Based on this study optimum
parameters can be selected for better performance of the soil
excavation task.
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International Journal of Machine Learning and Computing, Vol. 2, No. 4, August 2012
Dr. J. M. Prajapati was born in 1973, Telavi He has industrial experience more than two years and twenty three year
village of Ahmedabad district, Gujarat state, India. experience in the field of academic. He is presently working as an Associate
He has completed his graduation in Mechanical Professor in the Faculty of Technology and Engineering, The M. S.
Engineering and post graduation (ME) with University of Baroda, Vadodara. Gujarat, India. He has guided three M. Tech
specialization in Machine Design from S. P. dissertation. There are 10 research papers published in various International
University, V. V. Nagar, Gujarat, India in the year Journals in the field of machine design and robotics. There are total 10
1995 and 2003 respectively. He has successfully research papers presented and published in National and International
completed his Ph. D. from Hemchandracharya conferences. There are many expert lectures delivered in the area of design
North Gujarat University, Patan, Gujarat, India in optimization and robotics at various well established Institutions in India.
the year of 2009 in the field of Robotics with excellent academic profile.
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