a 2 = b 2 + c 2 − 2bc ⋅ cos α

R 2 = r 2 + ∆x 2 − 2 ⋅ r ⋅ ∆x ⋅ cos(π − θ )
r 2 − 2 ⋅ ∆x ⋅ cos(π − θ ) ⋅ r − R 2 + ∆x 2 = 0
− 2 ⋅ ∆x ⋅ cos(π − θ ) ± (−2 ⋅ ∆x ⋅ cos(π − θ )) 2 − 4 ⋅ (− R 2 + ∆x 2 )
r=
2
cos(π − θ ) = − cos(θ )
− 2 ⋅ ∆x ⋅ cos(θ ) ± (2 ⋅ ∆x ⋅ cos(θ )) 2 − 4 ⋅ (− R 2 + ∆x 2 )
r=
2
− 2 ⋅ ∆x ⋅ cos(θ ) ± 2 2 ⋅ ∆x 2 ⋅ cos 2 (θ ) − 4 ⋅ (− R 2 + ∆x 2 )
r=
2
r = − ∆x ⋅ cos(θ ) ± ∆x ⋅ cos (θ ) − (− R 2 + ∆x 2 )
2 2

r = − ∆x ⋅ cos(θ ) ± ∆x 2 ⋅ cos 2 (θ ) + R 2 − ∆x 2
r = − ∆x ⋅ cos(θ ) ± ∆x 2 ⋅ (cos 2 (θ ) − 1) + R 2
r = − ∆x ⋅ cos(θ ) ± R 2 − ∆x 2 ⋅ sin (θ )

∆r = R − r
= R − (− ∆x ⋅ cos(θ ) ± R 2 − ∆x 2 ⋅ sin (θ ) )
= R + ∆x ⋅ cos(θ ) ± R 2 − ∆x 2 ⋅ sin (θ ) )
∆x 2
= ∆x ⋅ cos(θ ) + R(1 ± 1 − 2
sin 2 (θ ))
R
Source: www.bulkcn.com

if
∆x 2
∆x ⋅ cos(θ ) ≥≥ R(1 − 1 − 2 sin 2 (θ ))
R
Then
∆r (θ ) ≈ ∆x ⋅ cos(θ )

41
Appendix A4 (Calculation h(θ))

h = maximum reclaim height [m]

φ = angle of repose [o]

h
tan ϕ =
b
h = b ⋅ tan ϕ

if R>>b then,

b = R ⋅ tan θ
h = R ⋅ tan θ ⋅ tan ϕ

42
Appendix A5 (Calculation slewing angles)

θ0 =0

θ1
Slewing angle where the slice begins.

43
X = R2 − Y 2
Y
θ 1 = arctan( )
X − ∆x
Y
= arctan( )
R 2 − Y 2 − ∆x
Y = (width) distance from center of the reclaimer till the start point of reclaiming of a layer.
∆x= step distance of the reclaimer
R = Horizontal distance between slewing/rotation center to end of the bucket wheel
r = R - ∆r (∆r = slice thickness)

θ2
Slewing angle where maximum reclaim height is reached

44
X = R 2 − (Y + y ) 2
Y+y
θ 2 = arctan( )
X − ∆x
Y+y
= arctan( )
R 2 − (Y + y ) 2 − ∆x

Y = (width) distance from center of the reclaimer till the start point of reclaiming of a layer.
y = distance where h varies
∆x= step distance of the reclaimer
R = Horizontal distance between slewing/rotation center to end of the bucket wheel
r = R - ∆r (∆r = slice thickness)
φ = angle of repose

45
θ3
Slewing angle where maximum reclaim height ends

46
Y = R 2 − (∆x + x + X ) 2
Y
θ 3 = arctan( )
x+ X

X = (length) distance from center point of the reclaimer till reclaimed layer. [m]
x = distance where h varies [m]
∆x= step distance of the reclaimer [m]
R = Horizontal distance between slewing/rotation center to end of the bucket wheel [m]
r = R - ∆r (∆r = slice thickness) [m]
φ = angle of repose

θ4
Slewing angle where the slice ends

47
Y = R 2 − (∆x + X ) 2
Y
θ 4 = arctan( )
X

X = (length) distance from center point of the reclaimer till reclaimed layer [m]
∆x= step distance of the reclaimer [m]
R = Horizontal distance between slewing/rotation center to end of the bucket wheel [m]
r = R - ∆r (∆r = slice thickness) [m]

48
Appendix A6 (Volume of a slewing slice)

θ =π 2 θ =π 2 θ =π 2 θ =π 2

V= ∫ A ⋅ r ⋅ dθ = θ∫ h ⋅ ∆r ⋅ (R − ∆r ) ⋅ dθ = θ∫ h ⋅ ∆r ⋅ (R − ∆r ) ⋅ dθ = θ∫ (h ⋅ ∆r ⋅ R − ⋅h ⋅ ∆r ) dθ
2

θ =0 =0 =0 =0
θ =π 2

= ∫ (h ⋅ R ⋅ ∆x ⋅ cos(θ ) − ⋅h ⋅ ∆x 2
⋅ cos (θ ))dθ
θ =0

1
= − (h ⋅ ∆x ⋅ (∆x ⋅ sin(2θ ) + 2 ⋅ ∆x ⋅ θ − 4 R ⋅ sin(θ )
4
θ θ3 θ
1 2 1 4
V= ⋅ ∫ A ⋅ r ⋅ dθ + ∫ A ⋅ r ⋅ dθ + ⋅ ∫ A ⋅ r ⋅ dθ
2 θ1 θ2 2 θ13
b b

∫ A ⋅ r ⋅ dθ = ∫ h ⋅ ∆r ⋅ (R − ∆r ) ⋅ dθ
a a
b
= ∫ (h ⋅ ∆r ⋅ R − ⋅h ⋅ ∆r 2 )dθ
a

= ∫ (h ⋅ R ⋅ ∆x ⋅ cos(θ ) − ⋅h ⋅ ∆x 2 ⋅ cos 2 (θ ))dθ

a
b b
= ∫ (h ⋅ R ⋅ ∆x ⋅ cos(θ )dθ − ⋅∫ h ⋅ ∆x 2 ⋅ cos 2 (θ ))dθ
a a

θ 1
b

= [h ⋅ R ⋅ ∆x ⋅ sin(θ )] − h ⋅ ∆x  + sin(2θ )
b 2
a
2 4 a

= − h ⋅ ∆x[∆x ⋅ sin(2θ ) + 2 ⋅ ∆x ⋅ θ − 4 ⋅ R ⋅ sin(θ )]a

1 b

4
so
V=

− h ⋅ ∆x[∆x ⋅ sin(2θ ) + 2 ⋅ ∆x ⋅ θ − 4 ⋅ R ⋅ sin(θ )]θ 1 +

1 θ2

8
− h ⋅ ∆x[∆x ⋅ sin(2θ ) + 2 ⋅ ∆x ⋅ θ − 4 ⋅ R ⋅ sin(θ )]θ 2 +
1 θ3

4
− h ⋅ ∆x[∆x ⋅ sin(2θ ) + 2 ⋅ ∆x ⋅ θ − 4 ⋅ R ⋅ sin(θ )]θ 3
1 θ4

49
Appendix A7 (Time calculation for slewing)

ds
v=
dt
v = velocity [m/s]
ds = change of displacement (m)
dt = change in time (s)

dθ
ω=
dt
ω = angular velocity [rad/s]
ds = change of angular displacement (m)
dt = change in time (s)

dθ
dt =
ω
ω = ω0 cos(θ )
dθ cos(θ )
dt = = ⋅ dθ
ω0 ω0
cos(θ )
θ1
cos(θ )
t1

∫ dt = ∫ ⋅ dθ
t0 θ 0
ω0

∆t =
1
[sin(θ )]θθ1

ω0 0

∆t =
1
[sin(θ1 ) − sin(θ 0 )]
ω0

50