Loader Simulation with DEM
Modeling wheel loader-soil interaction using Chrono::Engine and DEM
In collaboration with Komatsu, this project focuses on the high-fidelity simulation of wheel loader digging operations. By leveraging Chrono::Engine and a Discrete Element Method (DEM) terrain model, the work simulates realistic soil-tool interactions to evaluate loader performance for design, control, and automation purposes.
Key Contributions
- Vehicle Modeling: Developed a rigid-body model of a wheel loader using Chrono’s Multi-Body Dynamics (MBD) engine, incorporating articulated steering, hydraulic lift arms, and bucket mechanisms.
- DEM Terrain Setup: Configured large-scale granular terrain beds using DEM-E, modeling soil as spherical particles with calibrated contact properties to ensure physical accuracy.
- Loader-Soil Interaction: Simulated digging operations to analyze the interaction between the moving bucket and DEM terrain, tracking reaction forces, torques, and resistance profiles.
- Simulation Automation: Implemented scripts to automate dig cycles, enabling testing under varied approach angles, depths, and bucket trajectories.
- Performance Metrics & Visualization: Logged key metrics such as penetration forces, soil flow, and loading efficiency, while visualizing simulations to depict terrain deformation and particle flow fields.
Left: Wheel Loader Model. Right: Visualization of soil particle deformation and interaction during the digging phase.
This project enhances expertise in physics-based simulation and granular material modeling, contributing to the development of tools for off-road automation and heavy equipment performance evaluation.