3D Dynamic analysis of soil–tool interaction using the finite element method

Previous experimental and finite element studies have shown the influence of both soil initial conditions and blade operating conditions on cutting forces. However, most of these finite element analyses (FEA) are limited to small blade displacements to reduce element distortion which can cause solution convergence problems. In this study a dynamic three-dimensional FEA of soil–tool interaction was carried out based on predefined failure surfaces to investigate the effect of cutting speed and angle on cutting forces over large blade displacements. Sandy soil was considered in this study and modeled using the hypoplastic constitutive model implemented in the commercial FEA package, ABAQUS. Results reveal the validity of the concept of predefined failure surfaces in simulating soil–tool interaction and the significant effect of cutting acceleration on cutting forces.     

Finite element analysis of plane soil cutting

This study develops the finite element method (FEM) of solution to provide a theoretical means for determination of soil performance under the actions of a cutting blade—and the forces required to promote cutting. The developed FEM takes into account the effect of progressive and continuous cutting of the clay soil at the tip of the blade, with possible development of failure zones in the soil whenever the shear strength of the soil is exceeded. The solution provides detailed information on stress and deformation fields in the soil, together with tangential and normal pressures developed at the blade soil interface Correspondence between theoretically computed displacement fields and measured values has been obtained. In addition, the theoretically computed and experimentally measured values for forces developed in blade thrust are seen to be in close agreement.     

Constitutive model for high speed tillage using narrow tools

Dynamic effects on soil–tool cutting forces are important when operating at elevated speeds. The rate-dependent behavior of narrow tillage tools was investigated in this study. A hypoelastic soil constitutive relationship with variable Young's modulus and Poisson's ratio was developed to describe the dynamic soil-tool cutting problem. An initial finite element formulation with viscous components incorporated in the stiffness matrix resulted in severe numerical oscillations. A modified model that incorporated lumped viscous components in the equation of motion (independent of the stiffness matrix) was proposed. Numerical oscillations still occurred, but at sufficiently high tool displacements (1–10 mm) to enable the determination of peak draft forces. Experimental data for flat and triangular edged narrow tools were obtained using a 9-m long linear monorail system designed to accelerate narrow tools through a linear soil bin to high speeds. Steady-state speeds from 0.5 to 10.0 m/s over a distance of 1 to 3 m were attained using this system. A reference-tool inverse procedure was used to estimate the dynamic soil parameter in the soil model using draft data obtained for the flat tool. Predictions of triangular tool draft produced correct trends but overestimated experimental data. Draft was overpredicted by less than 1% at a tool speed of 2.8 m/s and by 25% at 8.4 m/s.     

A non-linear 3-D finite element analysis of soil failure with tillage tools

A non-linear 3-D finite element model was developed to study the soil failure under a narrow tillage blade. The weighted residual method was applied to formulate the finite element model. The Duncan and Chang hyperbolic stress-strain model was used in the analysis. This finite element model also takes into account friction at the soil-tool interface, and progressive and continuous cutting. A FORTRAN program was written to carry out the finite element analysis. The results provided soil forces, a progressive developed failure zone, displacement field and stress distribution along the tool surface. Tillage were conducted in the laboratory soil bin to verify soil forces from the finite element analysis. The comparison between the results from the finite element model and those from the soil bin tests was reasonably good.     

A framework for earthmoving blade/soil model development

This paper presents a framework for earthmoving blade/soil model development that combines the advantages of both the analytical and numerical methods. This framework greatly expands the limitations of traditional analytically formulated models and can be effectively used to tackle the technical issues that are faced with complex dozing. This model has a lot of new capabilities compared to other models that can be found in the open literatures. Some of the new capabilities are (1) it is a three-dimensional model and is able to account for the tilted and angled blade operations on different terrain conditions: level, uphill, and downhill; (2) uneven cutting can be effectively handled by the proposed model; (3) the transient soil piling, spillage process, and earthmoving productivity can be predicted and animated; (4) the forces and moments can be predicted as well as their centroids; (5) the cutting soil volumetric expansion and transient surcharge effect on resultant forces and moments acting on blade are well established; (6) many systematic relationships involving the dynamic dozing are well established through this framework. Numerical examples and qualitative validations are provided to demonstrate and verify the capabilities of this newly developed framework.     

The development of a soil trafficability model for legged vehicles on granular soils

This paper extends previous research in planetary microrover locomotion system analysis at the University of Surrey through the development of a legged microrover mobility model. This model compares various two- and three-dimensional soil cutting models to determine the most applicable model to legged locomotion in deformable soils, and is flexible to use any of these models depending on the leg shape, sinkage and other conditions. This baseline draught force model is used for determining the soil forces available for legged vehicle locomotion, as well as the soil thrust available to the vehicle footprint. Empirical investigations were performed with a robotic arm in planetary soil simulants to validate a legged mobility model through determination of the draft force of a robotic leg pushing through soil at constant and varying sinkage levels. The resulting locomotion performance model will be used to predict the ability of the legged vehicle to traverse a specific soil. An introduction to the planetary soil simulants used in this study (SSC-1 quartz-based sand and SSC-2 garnet-based sand) and the process used to determine their mechanical properties is also briefly presented to provide a baseline for this research.     

The mechanics of soil cutting by a rotating wire

The cutting of soil by a rotating wire analogous to the tip of a rotary tiller blade while cutting a two-dimensional soil slice over a range of ‘fetch-ratios’ (bite length/depth-ratios) in a quasi-static condition is presented. A theoretical models based on Mohr-Coloumb soil mechanics has been proposed to predict forces on the wire (tip). The model is dependent upon observed passive general shear failure of the soil slice towards the curved free surface of a previous cut and the lateral local shear failure towards the undeformed soil. The predicted forces in a frictional soil and in a pure cohesive medium (artificial clay) agreed well with experimental results.     

Prediction of draft forces in cohesionless soil with the Discrete Element Method

The Discrete Element Method (DEM) is applied to predict draft forces of a simple implement in cohesionless granular material. Results are compared with small-scale laboratory tests in which the horizontal force is measured at a straight blade. This study is focused on the case of cohesionless material under quasi-static conditions.The DEM requires the calibration of the local contact parameters between particles to adjust the bulk material properties. The most important bulk property is the angle of internal friction ?. In the DEM, the shear resistance is limited in the case of spherical particles due to excessive particle rotations. This is cured by retaining rotations of the particles. Although this is known to prevent the material from developing shear bands, the model still turns out to be capable of predicting the reaction force on the blade.In contrast to empirical formulas for this kind of application, the DEM model can easily be extended to more complex tool geometries and trajectories. This study helps to find a simple and numerically efficient setup for the numerical model, capable of predicting draft forces correctly and so allowing for large-scale industrial simulations.     

Triaxial force measurement at specific positions on a soil-cutting blade

In order to create a mathematical model of a soil-cutting blade, it is necessary to understand thoroughly the behavior of a soil slice and its interaction with the blade surface. The triaxial force transducer was developed to serve as one of the various tools to verify the proposed mathematical model. The prototype model transducer was fabricated, calibrated and tested with a soil slice on a flat cutting blade. The calibration results have indicated high sensitivity and the capability of simultaneous measurement in three directions. As a technological refinement, the detecting part of this triaxial force transducer was tapered to solve the problem of soil clogging in the opening clearance. Furthermore, the effects of the clearance configurations between the bore on the soil-cutting blade and the detecting part which is embedded in this bore were investigated to determine the most desirable configuration. The comparative results indicated that by tapering both the detecting part and the bore, the tangential stress measurement gained the highest value, and provided the most satisfactory condition for three-dimensional stress management.     

A model of stress distribution and cracking in cohesive soils produced by simple tillage implements

The objective of this research was to describe the mechanical behavior of soil under the action of a tillage tool, with the purpose of finding a relation between the tool geometry and the resultant soil structure. The problem was solved using fundamental principles of soil mechanics and force equilibrium analysis. As a result, a mathematical model was developed which describes three stress zones within the cut soil volume: shear failure, tension failure, and no internal failure. The model was programmed into a computer to generate maps of normal and shear stresses to visualize the three failure zones. The model was tested by cutting soil with flat tillage tools in a laboratory soil bin, and it proved to provide reliable predictions of the pattern of soil shear and tension failure.     

Effects of non-smooth characteristics on bionic bulldozer blades in resistance reduction against soil

The phenomenon of soil adhesion occurs widely when terrain machines and construction machines work; this adhesion increases their working resistance. Bionics is one of the most effective methods to reduce resistance against soil. Several non-smooth convex form bulldozer blades were tested to study the effects of non-smooth characteristics on resistance reduction against soil. Under the same soil and test conditions, the draft forces of different non-smooth samples were obtained, and were lower than those of smooth samples. The sample with largest convex base diameter had the lowest draft force. The experiments with smooth and non-smooth samples were repeated to observe soil adhesion and test resistance. A minimum amount of soil adhered to the surface of the non-smooth sample, and the draft force varied smoothly. The smooth sample was different in soil adhesion and draft force.     

Experimental evaluation of cutting dynamic models in soil bin facility

Computer Aided Engineering methods in earthmoving machines design and their automation require the development of soil-cutting models. These models both in two or three dimensions, static or dynamic, fitted for frictional or cohesive soils, must be mutually compatible and must function with soil transportation models and with machine locomotion characteristic models. In this work two different methods of soil cutting have been evaluated, both of them based on the classical wedge method, in order to verify their applicability to test conditions in the new soil bin facility of CEMOTER. From experimental results the possibility of using dynamic models of soil cutting in the frequency domain is discussed, to improve earthmoving machinery performance by automation and implementation of open and closed-loop control. After a preliminary analysis of a plane blade under different test conditions in sandy soil, soil cutting theoretical models of a simple implement are compared with respective scale models by tests performed in a soil bin facility at various operating speeds and depths, in order to investigate their applicability and the dynamic behaviour of the soil cutting force.     

The universal earthmoving equation applied to chisel plough wings

This paper compares the results of tests which examined the effect of chisel plough wing geometry on tillage forces with those predicted by the Universal Earthmoving Equation as presented in E. McKyes' book Soil Cutting and Tillage, published by Elsevier (1985). The tests were conducted in the SAIT Tillage Test Track (an outside continous soil bin which contains a sandy loam soil) and in two field soild, one sandy loam and the other a red brown earth. The tests were conducted using a range of speeds from 5 to 15 km/h and at depths of 50 and 70 mm. The tests compared the effects of varying share wing width and rake angle. The comparison of the measured and predicted draft and vertical force responses showed a good correlation between the Universal Earthmoving Equation predictions and the measured width responses, but it did not always predict the correct rake angle responses.     

Pulverization characteristics of clay soil

Soil pulverization and failures during chip formation using rotating simple wedge-shaped blades for microsite preparation were analyzed to determine soil cutting characteristics. Equations were developed for soil bite size and blade projected area, and a new term was proposed relating the power requirement for rotating the pulverizer blade to the power required for penetrating the soil profile. The results of this study indicated that the rotational power requirements, in general, increased with increases in rotational and downward speeds, and the penetration power was slightly affected by the rotational speeds and was very small in comparison with the rotational power. The soil bite size appeared to play a great role in identifying the power requirements of a pulverizer blade. A substantial increase in rotational power requirement at the same rotational speeds was required due to increases in bite sizes; this increase might be due to the increases in soil-blade friction forces. During soil pulverization, chip dimensions were affected by the operational speeds, soil strength, blade geometry, and number of pulverizer blades. The pulverizer shaft diameter has little influence on the total power requirements but definitely affects the soil packing sequence of the planting cycle when the soil pulverizer for microsite preparation is incorporated into the planting head. An example illustrating the use of the data presented in this study is included to assist in the selection and sizing of a soil pulverizer's power unit.     

单双向流下浪流轮机空心翼径向屈曲失效分析

以垂直卧式浪流轮机的空心翼（WTHB）为主要研究对象，采用动量理论、屈曲失效理论及三维数值模拟相结合的方法，考虑了WTHB在非单一浪流过程中产生的径向压缩应力，分析了浪流单双向作用力、水动力攻角和轮翼双支持点分布对空心翼屈曲失效的影响。结果表明，双向浪流作用下的空心翼稳定性明显优于传统单向浪流作用下空心翼，最优获能水动力攻角40°相较于20°的相对径向屈曲变形量最值较大，空心翼双支持点分布对整体极限型屈曲有较大影响。     

金刚石锯片在锯切过程中的受力与失效分析

对金刚石锯片在锯切过程中的受力及弧区内直接参与切削的金刚石数量进行了测量和估算,并分析了节块表面抛光和微破碎金刚石比例与锯片寿命和效率之间的关系,结果表明：单颗粒金刚石的受力远低于其静压强度;其低强度失效的原因是锯切过程中金刚石晶体内产生的热应力。     

Mechanics and mechanism of cut resistance of protective materials

A sliding sharp edge penetrating material is one of the most dangerous cases of cutting because it requires the smallest applied load. A better understanding of the cutting mechanism is a fundamental step to develop new and more performing protective materials. This study aims at analyzing cutting mechanics and mechanism in the presence of friction. The International Standard ISO 13997 cut test method consists in measuring the distance that a straight blade slides horizontally to cut through a material under a constant applied normal force and was used to investigate cutting phenomena.In practice, cut resistance of a material is contributed by the intrinsic strength of material and the frictional distribution. Two types of friction distributions are involved in cutting: a macroscopic friction induced by the gripping of the material and by the applied normal load on the two sides of the blade; and the other the sliding friction associated with cut through of the material that occurs along the face of the blade tip. For most materials, frictional forces due to lateral gripping could be several times greater than the friction due to the applied normal force. Thus, the cutting energy required for breaking molecular chains is much smaller than the energy dissipated for friction. The elastic modulus, the structure of the material as well as the sliding velocity have significant influence on the friction. Therefore all these properties can affect the cutting resistance results.     

Design of a tool for injecting organic waste slurries in soil

The object of the study was to design a tool for the purpose of cutting, loosening and redepositing a sufficient soil volume to be mixed with a specified quantity of organic waste slurry such that the slurry would be completely covered. Laboratory tests were conducted to determine the best tool shape for this function and to minimize the draft force required in operation. The results of full scale field tests are also shown, including the comparison of draft force measurements with values predicted from mechanics theory.     

基于坐标变换的斜角切削力学研究

在直角切削模型的基础上,首先将在法平面坐标系中得到的切削力通过坐标变换得到主剖面坐标系中的切削力;再把主剖面坐标系中的切削力利用坐标变换得到切深-进给平面中的切削力理论公式。通过坐标变换得到的切削力理论公式更简洁,物理意义清晰,并能反映出切削偏角对切削力的影响。通过对数值计算与数值仿真两种方法模拟得到的切削力进行比较,得出两者的误差率在8.3%~15.7%,说明两者具有良好的一致性,从而证明了模型的正确性。斜角切削力的理论公式为实际切削加工中切削力的解析预测奠定了基础。     

A soil-tool interaction model for bulldozer blades

In the soil cutting process, the forces on the blade of a bulldozer are variable and complicated, and they decrease the performance of bulldozers. It's significant to understand soil-blade interaction in researching the performance, design and utilization of bulldozers. This paper deals with the soil cutting process and sets up a mathematical model of soil-blade interaction. This mathematical model can be provided for computer simulation and its validity can be examined by experiments.