Simulation of an Articulated Wheel Loader including Model for Earthmoving Tires

This paper describes an appropriate computer model for an articulated wheel loader. From this model, computer trials or runs were made to simulate typical loading cycles or phases of the loading cycle so that certain variables such as steering cylinder pressures could be determined.

This paper also describes the development of an earthmoving tire model. The tire model considers three modes of operation: sticking, sliding, and rolling. This model is integrated into the simulation to improve the accuracy of the results.