This paper introduces a fundamental step of process analysis and modelling for the scooping and loading function of a loader type excavating machine, which is considered as a robot manipulator. For many applications, such as remote excavation and loading/unloading of unpacked material with a mechanical loader and, on a smaller scale, scooping the food from a plate by an automatic patient feeder, it becomes necessary to analyze the motion and the forces involved in order to be able to automatically perform such a function. The paper discusses the mathematical approach for the model, the forces that are involved and their variation during scooping, and the most appropriate trajectory for the motion of the loading bucket.
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