Abstract
In order to investigate problems involving soil and construction machinery such as a hydraulic excavator, understanding of the physical interactions between the soil and the machine is essential. The purpose of this study is to experimentally examine actual excavation processes by examining various physical parameters, for the purpose of realizing an intelligent excavation machine whose performance is not only automatic but also optimal in terms of energy consumption, operation time and excavation trajectory. In this article we present experimental results using a model-sized bucket and two different soil types, sand and loam. Various sensing devices and experimental apparatus were developed for the experiments. Excavation load and stress distributions were examined.
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