Abstract:In this study, the optimal shape of angled spoke-based wheels (ASWs) was designed to maximize the driving speed of a mobile robot with ASWs on granular media. As a lightweight search and rescue mobile robot, it is required to have a high driving speed to reach the disaster site quickly. When granular media behave as fluids, slippage occurs, and the mobile robot slows down compared with when the media behave similarly to a solid ground. There are no exact criteria to explain the behavior of granular media. Ther… Show more
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