Evaluation of Resistive Force using Principle of Soil Mechanics for Mini Hydraulic Backhoe Excavator

Abstract

The automation of the land excavation machines can find applications in the excavation of soil in both terrestrial and planetary mining and construction. In the process of automating an earthmoving machine, we have utilized a model of soil-tool interaction that predicts resistive forces experienced at the tool during digging. The predicted forces can be used to model the closed loop behavior of a controller that serves the joints of the excavator so as to fill the bucket. Accurately predicting the excavation force that will be encountered by digging tools on the soil surface is a crucial part of designing of mini hydraulic excavator. Based on principles of soil mechanics, this paper focuses on application of an analytical model that is relatively simple and easy to determine required resistive force. Here, soil parameters like soil cohesions, soil density and soil surcharge etc. that can be determined by traditional soil strength tests and taken as reference. The excavation force is investigated and it is helpful in designing of the components of kinematic linkages. This paper emphasize on graphical representation of the relations between excavation force and different parameters like soil density, soil blade friction angle, soil cohesion, internal friction angle and depth of tool. This paper evaluates the digging force based on fixed bucket size of 300 mm length × 300 mm width × 300 mm depth and the minimum digging depth up to 1.5 m especially designed for construction applications.

Design and Modelling of a Light Duty Trencher for Local Conditions

“…These data are taken from the soil parameter technical specification of CWS industries [CWS Web], which are based on laboratory experiments for various soil conditions. Among these, the soil density and soil cohesion are selected for the worst-case condition of soil as a hard clay [1,3,14].…”

“…The classical soil-tool model called the "Fundamental Earthmoving Equation (FEE)" along with a reformulated version is utilized for this application. This well-known FEE is described by Reece as [3,16]:…”

Active‐Side Calculation Method for a Backhoe Hydraulic Excavator with Incomplete Digging Resistance in a Normal State

“…Based on the assumptions that the soil is homogeneous, continuous, and isotropic and that the bucket has a simple shape and moves stably, many scholars have proposed soiltool interaction models, especially the equations for expressing the tangential force of the digging resistance and the empirical formulas for the digging resistance that are more broadly applied in terms of excavator design and automation. Using the soil-tool interaction model, some scholars have predicted and assessed the digging or traction force required in the excavation of extraterrestrial rock strata [2,3], and some scholars have also analysed and compared the cutting forces predicted by different models [4,5]. e results show that under the same conditions of soil parameters and digging parameters, there are great differences in the digging resistance results calculated based on different models [5].…”

Kinematic Design Optimization of Planer-Link Mechanism Based Manipulator

“…Bhavesh Patel [15] represented the state of art of the kinematics of planer mechanisms. Also, Bhavesh Patel [16] investigated the force effects on the planer mechanisns.…”