Analysis of Resistive Forces Acting on the Bucket of LHD in the Scooping Task

In order to automate the scooping task, it is desirable that the resistive force acting on the bucket be obtained before the scooping is performed. The objective of this study is to derive theoretically the resistive forces acting on the bucket during scooping of piled rock fragments. First, the changes in the shape of the rock pile due to the penetration of it by the bucket are modeled. Based on this model, the resistive forces acting on the bucket are considered theoretically. Finally, it was confirmed that the calculated results obtained using the model agree well with the experimental results.