Force analysis for automation of the loading operation in an LHD-loader

The motion of the bucket in an LHD (load-haul-dump) loader and the required forces in the hydraulic cylinder, and the pushing force during a loading operation are studied. Based on the required force/torque load at the front edge of the bucket and its configuration (height and orientation angle), these forces can be determined by considering the loading mechanism as a slow manipulator (static loads) through the Jacobian matrix. The Jacobian of the manipulator was analytically found in terms of the physical dimensions and the measurable angles, considering the joint variables for manipulation, which can also be used for velocity relations, when necessary. It is pointed out that the results of this work combined with studies on rock mechanics can provide some means of automatic loading action for a system equipped with pressure sensors to monitor the forces of the actuators.<
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