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Modeling Excavator-Soil Interaction

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Bifurcations, Instabilities and Degradations in Geomaterials

Part of the book series: Springer Series in Geomechanics and Geoengineering ((SSGG,volume 0))

Abstract

This paper reviews models of how ground-engaging tools interact with soils, the rigid-body dynamics of excavating machines, and how to combine these models to estimate soil parameters or to find faults in machines from anomalous dynamic behaviour. Soil-tool interaction models rely primarily on assumptions of homogeneous, isotropic soil properties, and tools that have simple geometries and steady motion through the soil. In many cases, these are reasonable assumptions, provided that the strain rate of the soil is not extreme. Parametric formulations are discussed for soil failure under stress from a non-deformable tool; but finiteelement and distinct-element methods are not considered. The formulation of governing equations for the rigid-body dynamics of the machine that carries the tool are discussed. By using parametric equations for the combined system of machine and soil, it is possible to estimate the parameters of the system by measuring machine motions and interaction forces at the tool and base. Possible sources of error are discussed for this approach, with recommendations for how to determine the parameters of the system.

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Authors and Affiliations

  1. Department of Mechanical Engineering, University of Alberta, Edmonton, AB, Canada

    M. G. Lipsett & R. Yousefi Moghaddam

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  1. M. G. Lipsett
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  2. R. Yousefi Moghaddam
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Editors and Affiliations

  1. Department of Civil Engineering Schulich School of Engineering , University of Calgary , 2500 University Dr NW, T2N 1N4, Calgary, AB, Canada

    Richard Wan

  2. Caterpillar Inc., 14009 Old Galena Rd., Mossville, IL, 61552

    Mustafa Alsaleh

  3. Department of Civil Engineering , University of Minnesota , 55455, Minneapolis, MN, USA

    Joe Labuz

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Lipsett, M.G., Moghaddam, R.Y. (2011). Modeling Excavator-Soil Interaction. In: Wan, R., Alsaleh, M., Labuz, J. (eds) Bifurcations, Instabilities and Degradations in Geomaterials. Springer Series in Geomechanics and Geoengineering, vol 0. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18284-6_19

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  • DOI: https://doi.org/10.1007/978-3-642-18284-6_19

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-18283-9

  • Online ISBN: 978-3-642-18284-6

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