Study of bucket trajectory in automatic scooping with load-haul-dump loaders

In order to automate the operation of mechanical loaders it is essential to have a knowledge of the forces that act on the bucket and of the trajectory that the bucket should follow. A trajectory for the cutting edge of a bucket is derived from studies of the forces acting during the scooping phase. The proposed trajectory has a minimum energy consumption and is simple to automate. It is determined initially by setting to zero certain components of the resistive forces to the bucket motion which would otherwise result in unnecessary work and consequent energy wastage. The method for finding the appropriate trajectory is discussed on the basis of the properties of the material to be loaded and the loader size.