Authors: M.S. Mamaeva, A.A. Khoreshok, J.S. Udalova

Title of the article: Justification of combined digital models of the excavation process wet loam

Year: 2026, Issue: 2, Pages: 66-76

Branch of knowledge: 2.8.8. Geotechnology, Mining machines (engineering)

Index UDK: 622.6

DOI: 10.26730/1816-4528-2026-2-66-76

Abstract: The article presents a systematic review of modern approaches to modeling the process of scooping moisture-containing soils (dusty loams with a humidity of 18-22%) with a hydraulic excavator of the "reverse shovel" type. Methods of kinematic analysis of working equipment based on the Denavit – Hartenberg formalism are considered, as well as key areas of mathematical modeling of bucket—ground interaction: from classical theories of marginal equilibrium to modern numerical methods - the discrete element method (DDE/DEM) and the finite element method (FEM). Special attention is paid to the problem of integrating heterogeneous models — analytical, numerical and physical — to increase the reliability of the forecast of sticking and the bucket filling coefficient. It is demonstrated that isolated approaches have significant limitations: classical theories do not take into account the dynamics of the process and adhesion, and numerical models require careful calibration based on experimental data. The paper describes the development of a specialized electronic measuring device for quantifying the mass of adhering soil with an accuracy of ± 1-2 g, providing synchronized recording of humidity and adhesion dynamics in real time. It is shown that an integrated approach combining kinematics, soil rheology, bucket geometry and experimental validation can overcome the limitations of isolated methods. The concept of a digital twin of working equipment is proposed, integrating a kinematic model, rheological parameters of the soil and data from sensors to predict the performance of mining excavation machines in difficult mining conditions, where losses due to sticking reach 15-25%. The results of the study provide a methodological basis for the development of adaptive control systems capable of automatically compensating for the effects of sticking and maintaining a high bucket filling coefficient even when working with problematic wet soils.

Key words: reverse shovel moisture-containing soils adhesion filling coefficient kinematics DEM numerical modeling model integration powdery loam

Receiving date: 15.01.2026

Approval date: 15.03.2026

Publication date: 04.06.2026

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