Bucket Trajectory Optimization under the Automatic Scooping of LHD

Yu Meng, Huazhen Fang, Guodong Liang, Qing Gu and Li Liu
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Yu Meng: School of Mechanical Engineering, University of Science and Technology, Beijing 100083, China
Huazhen Fang: School of Mechanical Engineering, University of Science and Technology, Beijing 100083, China
Guodong Liang: School of Mechanical Engineering, University of Science and Technology, Beijing 100083, China
Qing Gu: School of Mechanical Engineering, University of Science and Technology, Beijing 100083, China
Li Liu: School of Mechanical Engineering, University of Science and Technology, Beijing 100083, China

Energies, 2019, vol. 12, issue 20, 1-18

Abstract: We propose an optimal planning scheme of the bucket trajectory in the LHD (Load-Haul-Dump) automatic shoveling system to improve the effectiveness of the scooping operation. The research involves simulation of four typical shoveling methods, optimization of the scooping trajectory, establishment of a reaction force model in the scooping process and determination of optimal trajectory. Firstly, we compared the one-step, step-by-step, excavation and coordinated shoveling method by the Engineering Discrete Element Method (EDEM) simulation. The coordinated shoveling method becomes the best choice on account of its best comprehensive performance among the four methods. Based on the coordinated shoveling method, the shape of the optimized trajectory can be roughly determined. Then, we established a model of bucket force during the shoveling process by applying Coulomb’s passive earth pressure theory for the purpose of calculating energy consumption. The trajectory is finally determined through optimizing the minimum energy consumption in theory. The theoretical value is verified by the EDEM simulation.

Keywords: LHD; EDEM simulation; minimum energy consumption; optimal shoveling trajectory (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2019
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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