機械と土壌の相互力学に注目した建設ロボットの高精度シミュレーション

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タイトル別名
  • Towards High-fidelity Simulator of Construction Machine Based on Accurate Machine-soil Interaction Mechanics
  • ―掘削力学・クローラモデルの詳細評価と動力学シミュレータへの導入―
  • -Modeling and evaluation of bucket and track mechanics for dynamic simulator-

説明

<p>This paper reports updates of our development in a high-fidelity dynamic simulator for a construction machine. The updates are related to an accurate modeling and evaluation of the bucket-terrain interaction model, an experimental observation of pressure distribution beneath single track, and a dynamic simulator for a dual-arm tele-operated construction machine. As for the former two updates, we employed a built-in sensor approach. The bucket or track literally possesses tiny force sensors on its surface and captures the contact mechanics generated at the interaction boundary between the machine and loose sand. The dynamic simulator developed in this work addresses a construction machine as an articulated multibody dynamics. The simulator is then used for an assessment of possible motion candidates of a dual-arm construction machine in challenging environment.</p>

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