In order to automate the scooping task, it is necessary to obtain the theoretical resistive forces acting on the bucket. The resistive forces strongly depend on the shape changing process of the rock pile due to the bucket movement. In other words, in order to derive the theoretical model on the resistive forces, the shape changing process of the rock pile due to the bucket movement has to be made clear. In this paper, the behavior of particles in the rock pile due to the bucket movement was simulated by use of DEM (Distinct Element Method). Furthermore, the resistive forces acting on the bucket were calculated and compared with the experimental ones.
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