期刊
JOURNAL OF TERRAMECHANICS
卷 94, 期 -, 页码 49-62出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jterra.2021.01.002
关键词
DEM; Terramechanics; Planetary rover; Traction; Force chains; Slip ratio; Lugged wheel; Wheel control; Traction performance
资金
- U.S. National Science Foundation (NSF) [CMMI-1507612]
This study numerically investigates the dynamics of soil performance and locomotion performance of a lugged wheel travelling on soft soil, comparing performance parameters under slip-based wheel control and angular velocity-based wheel control. The findings are expected to be useful for optimal design and control of the lugged wheel travelling on deformable surfaces.
Terramechanics plays an important role in determining the design and control of autonomous robots and other vehicles that move on granular surfaces. Traction capabilities, slippage, and sinkage of a robot are governed by the interaction of a robot's appendage with the operating terrain. It is important to understand how the terrain flows under this appendage during such an interaction. In this work, dynamics of soil performance and locomotion performance of a lugged wheel travelling on soft soil are numerically investigated. Studies are conducted with a two-dimensional model by using the discrete element method to analyze the interactions between a lugged wheel and the soil. The soil performance is studied by examining the force distribution and evolution of force networks during the course of the wheel travel. For two different control modes, namely, slip-based wheel control and angular velocity-based wheel control, the performance parameters such as, sinkage, traction, traction efficiency, and power consumption of the wheel are compared for various wheel configurations. The findings of this work are expected to be useful for optimal design and control of the lugged wheel travelling on deformable surfaces. (C) 2021 ISTVS. Published by Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据