Screw‐generated forces in granular media: Experimental, computational, and analytical comparison

Abstract

This study presents an experimental, computational, and analytical comparison of a submerged, double‐helix Archimedes screw generating propulsive force against a bed of glass beads. Three screws of different pitch lengths were studied. Each screw was tested at six speeds in approximately 10 trials for a total of 180 experimental trials. These experiments were then replicated in EDEM, a discrete element method (DEM) software program. DEM simulation results for thrust forces in the 30–120 rpm regime had a 5%–20% inflation of forces compared to experimental results. These simulations were then compared with resistive force theory (RFT) plate approximation of the screw geometries. We analyze a superposition‐based partition approach to the full‐length screws as well as force generation in shortened, one‐ and two‐blade screws. We find that the force generation is dependent on the flow patterns and cannot be reduced to partitioned approximations as with simple intruders. © 2018 American Institute of Chemical Engineers AIChE J, 65: 894–903, 2019

Planetary Surface Mobility and Exploration: A Review

“…While most of these have not been selected for a launch or launched yet, they represent possible developments for the planetary robotics community in the future. The first of these research thrusts is the category of screwpropelled vehicles [37][38][39][40][41][42][43][44][45], which are ground or amphibious vehicles which use helical geometries and blades to generate thrust rather than wheel traction. These have been developed further for Earth-based applications but are currently in the experimental stage for space.…”

Mechanics of bipedal and quadrupedal locomotion on dry and wet granular media

“…Countless all‐terrain vehicles and robots have been developed using limbless (e.g., snake) (Crespi et al, 2005; Crespi & Ijspeert, 2006; Ma et al, 2014; Marvi et al, 2014; S. Yu et al, 2011), limbed (Crespi et al, 2013; Floyd et al, 2008, 2006; Floyd & Sitti, 2008; Jun et al, 2013; Karakasiliotis et al, 2016; Kim et al, 2016; Lee et al, 2014; Low et al, 2007; Mazouchova et al, 2013; Park et al, 2009, 2010; Park & Sitti, 2009; Wang et al, 2006; Zhong et al, 2016), screw‐propelled (Neumeyer & Jones, 1965; Osiński & Szykiedans, 2015; Thoesen, McBryan, et al, 2019; Thoesen et al, 2018; Thoesen, Ramirez, et al, 2019), wheeled (Sun & Ma, 2013; J. Yu et al, 2012, 2013), and whegged (i.e., legged‐wheels) (Brown et al, 2013; Eich et al, 2008, 2009; Herbert et al, 2008; Lambrecht et al, 2005; Stager et al, 2015; Walker, 2011; Zarrouk et al, 2013; Zarrouk & Yehezkel, 2018) mechanisms for mobility.…”

“…Countless all-terrain vehicles and robots have been developed using limbless (e.g., snake) (Crespi et al, 2005;Crespi & Ijspeert, 2006;Ma et al, 2014;Marvi et al, 2014;S. Yu et al, 2011), limbed (Crespi et al, 2013;Floyd et al, , 2006Jun et al, 2013;Karakasiliotis et al, 2016;Kim et al, 2016;Lee et al, 2014;Low et al, 2007;Mazouchova et al, 2013;Park et al, , 2010Wang et al, 2006;Zhong et al, 2016), screw-propelled (Neumeyer & Jones, 1965;Osiński & Szykiedans, 2015;Thoesen, McBryan, et al, 2019;Thoesen et al, 2018;Thoesen, Ramirez, et al, 2019), wheeled (Sun & Ma, 2013;J. Yu et al, 2012J.…”

Regolith Excavation Performance of a Screw-propelled Vehicle

“…One key mobility architecture that has been neglected until now is a counter-rotating Archimedes screw propelled mobility system, which uses rotating pontoons with helical protuberances to react against granular media and propel the vehicle forward. Screwed-Propelled Vehicles (SPVs) have been shown to provide large tractive forces even in reduced gravity environments (Thoesen et al, 2019c(Thoesen et al, , 2018. Additionally, a screw mobility system can be used to augment an excavation system by churning up material prior to being collected, thereby reducing the required force to excavate material.…”

“…However, SPVs are well suited to those terrains because they are mechanically simple and provide a large surface area for traction. Screw generated forces in granular media have been analyzed both experimentally and computationally (Thoesen et al, 2019c(Thoesen et al, , 2018. Furthermore, screw-driven mobility platforms have been tested in a lunar regolith analogue and computationally tested using gravity variant coupled discrete element method and multi-body dynamics simulations (Thoesen et al, 2020a(Thoesen et al, ,c,d, 2019b.…”