Terramechanics Modeling and Grouser Optimization for Multistage Adaptive Lateral Deformation Tracked Robot

Bai, Yidong; Sun, Liang; Zhang, Minglu

doi:10.1109/access.2020.3024977

Cited by 16 publications

(3 citation statements)

References 27 publications

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“…One of the greatest challenges is downhill sideslip often found in volcano. To reduce this slip, ELF was controlled to remain vertical with respect to gravity by a mechanical model based on terramechanics theory for the robot which has the capability of swinging its subtracks while maintaining its attitude [16], [63], [64], [65], [66].…”

Section: Testing Methodsmentioning

confidence: 99%

A Review of Mobile Robot Navigation System for Volcano Monitoring Application

Evita¹

2021

ijp

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Volcano is a geological environment including magma, eruption, volcanic edifice and its basements. For continuous monitoring after eruption, a mobile robot could be proposed as an alternative to prevent hazardous effect to volcanologist who perform up close monitoring. In this paper, the robots were divided into 3 types according to their different structures: legged, track-legged and wheeled mobile robots. Meanwhile, the navigation system were implemented in 4 steps suitable for volcano condition: environment mapping, trajectory design, motion control and obstacle avoidance. These navigation system also tested in different locations: indoor, outdoor and real volcano with different testing method for these robots. The testing result was discussed in robot kinematics parameter such as trajectory, velocity, slope angle, rollover and sideslip angels.

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Section: Testing Methodsmentioning

confidence: 99%

A Review of Mobile Robot Navigation System for Volcano Monitoring Application

Evita¹

2021

ijp

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“…Meng et al [21] established a new AMT dynamic simulation model and evaluated its dynamic performance, which provided a model basis for improving the reliability of wheels in a harsh working environment. To conveniently analyze the dynamic performance of the tracked vehicles on soft pavement, Li et al [22] established the tracked vehicle model. The results proved that the model presented in their study can be used to optimize the structural parameters of tracked vehicles.…”

Section: Introductionmentioning

confidence: 99%

Multi-body dynamics modeling and test of an articulated steering half-track tractor

Zhou,

Chen,

et al. 2023

International Journal of Agricultural and Biological Engineering

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With the benefits of small turning radius and high trafficability, the articulated steering half-track tractor had been widely utilized in orchard and small spaced farmland. To study the dynamic performance of the articulated steering half-track tractor and provide a model basis for studying the path tracking control, an accurate multi-body dynamic model of the tractor was required. In this study, the crucial parameters in the dynamic model construction of the tractor were investigated. Firstly, the topology model of the components of the half-track tractor was built by RecurDyn, in which the movement subs and driver functions were given. Secondly, considering the difference of dynamic characteristic of the articulated steering tractor with respect to different pavement hardnesses, the soft and hard pavement models were constructed by employing the harmonic superposition method. Finally, the simulations of the half-track tractor under straight-line and swerve had been conducted on the two types of pavements, and the simulation results were compared with the experimental and theoretical results. The results indicated that the average speed error of the dynamic model on hard pavement and farmland soft pavement were 2.7% and 2.1% compared with the real tractor tests. At the same time, the straight-line driving offset errors of the dynamic model on the two pavements were 1.6% and 3.8% for the front wheels and the rear wheels offset errors were 3.9% and 2.4%, respectively. Furthermore, the turning radius error under front wheel steering was 8.2% and the error under articulated steering was 5.3%. It is proved that the established dynamic model had high accuracy, which provides an efficient approach to analyze the dynamic features of the half-track tractor.

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“…Conventional working machinery is easy to slip and sink, or even unable to travel on soft sand. [1][2][3][4] The main reason is that sand undergoes obvious plastic deformation and expansion under the load, and then sand flows along the lateral and longitudinal direction, leading to the sink of the machinery. Based on the engineering bionic technology, previous researchers designed a series of bionic walking mechanisms, including wheeled walking mechanisms, legged walking mechanisms, and wheel-legged walking mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Research on the design and traction characteristics of a vehicle track shoe for sandy land

Yang

Gan

Chen

2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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The track shoe is the key component of the tracked chassis in contact with the ground. In order to improve the passing capacity (traction force) of the tracked chassis in sand, we designed a track shoe for running on sand, inspired by the ostrich-foot. Focusing on the structural parameters of the track shoe, we developed a traction model of the track shoe behavior based on the theory of vehicle terra-mechanics. The finite element analysis of different forms of track shoes was carried out combined with orthogonal experiments, and verified by the soil bin test. The results show that the width of the track shoe and the height of the track grouser are positively correlated with the traction performance of the chassis, and each additional track shoe increases its traction by 30%. The No.1 sand-special track shoe (the design inspiration comes from the sand-gathering function of ostrich-foot.) can improve the traction of the tracked chassis by 41.7%. The tractive force model can well predict the tractive force of the tracked chassis in sand, and the track shoe designed in this paper is helpful to improve the tractive force of the tracked chassis in sandy land.

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Terramechanics Modeling and Grouser Optimization for Multistage Adaptive Lateral Deformation Tracked Robot

Cited by 16 publications

References 27 publications

A Review of Mobile Robot Navigation System for Volcano Monitoring Application

A Review of Mobile Robot Navigation System for Volcano Monitoring Application

Multi-body dynamics modeling and test of an articulated steering half-track tractor

Research on the design and traction characteristics of a vehicle track shoe for sandy land

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