Characteristics of lug-soil interaction forces acting on a rotating lug in sandy soil

Yamamoto, Ryohei; Yang, Yang; Sun, Yu; Ma, Shugen

doi:10.1109/robio.2014.7090372

Cited by 2 publications

(1 citation statement)

References 9 publications

(12 reference statements)

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“…Yamamoto et al recorded grouser-soil interaction forces when a grouser is rotated beneath a soil surface, and concluded that a longer grouser sinkage length will generate a larger peak force. They also found the relationship between the force and maximum grouser sinkage length can be approximated using a quadratic linear function [ 13 ]. Iizuka et al also demonstrated that a larger wheel diameter and longer grouser length generate less slippage on slopes of loose soil [ 14 ].…”

Section: Introductionmentioning

confidence: 99%

The Effect of Assistive Anchor-Like Grousers on Wheeled Rover Performance over Unconsolidated Sandy Dune Inclines

Ibrahim

Aoshima

Shiroma

et al. 2016

Sensors

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Typical rovers with wheels equipped with conventional grousers are prone to getting stuck in unconsolidated sandy dune inclines as the wheels tend to sink into the sand. This phenomenon is caused by the motion of the grouser through the sand during the latter half of the rotation, in which the grouser pushes the sand from underneath the wheel upwards and towards the backside of the wheel. This creates a space that the wheel can sink into. To minimize sand movement and subsequent sinkage, we propose the concept of using an “assistive grouser”, which is attached to the side of a conventional rover wheel. The assistive grouser is designed to be able to autonomously maintain a uniform angle relative to the rover body independent of the rotation of the wheels. Rotating the wheel causes the assistive grousers to automatically penetrate into the sand slope surface at a constant angle of attack, thereby acting as an anchor and providing traction for the wheel. Maintaining a uniform grouser angle as opposed to a rotating motion also assists in extracting the grouser out of the sand without moving the sand towards the back of the wheel. Moreover, the angle of the assistive grousers is held constantly by a single dedicated motor, meaning that the angle of the assistive grousers can be optimized to provide the least amount of sinkage for each slope angle. The experimental results showed that for slope angles of 0–30 degrees, the rover equipped with the proposed assistive grousers experienced significantly less sinkage and consumed less current compared to the rover equipped with conventional grousers.

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Section: Introductionmentioning

confidence: 99%