A Dynamic Resistive Force Model for Designing Mobile Robot in Granular Media

Locomotion failure is the challenge for wheeled robots applied in granular media, which puts a high demand on the design of wheels. Due to a lack of a mechanical analysis method that can analyze the dynamic interaction between wheel and granular media, it is a challenge to seek design guidance for t...

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Veröffentlicht in:IEEE robotics and automation letters Jg. 7; H. 2; S. 5357 - 5364
Hauptverfasser: Huang, Lei, Zhu, Junda, Yuan, Yufeng, Yin, Yuehong
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Piscataway IEEE 01.04.2022
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Schlagworte:
Contact modeling
Differential geometry
Dynamics
filed robots
Force
Granular materials
Granular media
Intrusion
Locomotion
Mechanical analysis
Mechanical properties
Media
methods and tools for robot system design
Mobile robots
Robot dynamics
Robots
Stress
wheeled robots
Wheels
ISSN:2377-3766, 2377-3766
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Abstract Locomotion failure is the challenge for wheeled robots applied in granular media, which puts a high demand on the design of wheels. Due to a lack of a mechanical analysis method that can analyze the dynamic interaction between wheel and granular media, it is a challenge to seek design guidance for the wheel geometry. To this end, we introduce a Dynamic Resistive Force Model (DRFM) method suitable for 3D dynamic intrusion. In this method, Granular Resistive Force Theory (RFT) can be extended to 3D RFT smoothly by using granular parameters, and additional velocity terms can describe the effect of intrusion velocity on intrusion force. The relationship between wheel geometry and mechanical properties can be established by performing differential processing on the wheel surface and integrating the force generated by each micro-surface. On this basis, a complete set of solutions is proposed for the design of mobile robot wheels in granular media, and the screw-propelled wheel is taken as an example to optimize it. Theories, simulations, and experiments have all proved that the optimized wheel can produce greater thrust and lift than normal screw-propelled wheel when ensuring the stability of smooth propulsion. The proposed solution and the optimized screw-propelled wheel bring insights for designing mobile robots in granular media.
AbstractList Locomotion failure is the challenge for wheeled robots applied in granular media, which puts a high demand on the design of wheels. Due to a lack of a mechanical analysis method that can analyze the dynamic interaction between wheel and granular media, it is a challenge to seek design guidance for the wheel geometry. To this end, we introduce a Dynamic Resistive Force Model (DRFM) method suitable for 3D dynamic intrusion. In this method, Granular Resistive Force Theory (RFT) can be extended to 3D RFT smoothly by using granular parameters, and additional velocity terms can describe the effect of intrusion velocity on intrusion force. The relationship between wheel geometry and mechanical properties can be established by performing differential processing on the wheel surface and integrating the force generated by each micro-surface. On this basis, a complete set of solutions is proposed for the design of mobile robot wheels in granular media, and the screw-propelled wheel is taken as an example to optimize it. Theories, simulations, and experiments have all proved that the optimized wheel can produce greater thrust and lift than normal screw-propelled wheel when ensuring the stability of smooth propulsion. The proposed solution and the optimized screw-propelled wheel bring insights for designing mobile robots in granular media.
Author Zhu, Junda
Huang, Lei
Yuan, Yufeng
Yin, Yuehong
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  surname: Huang
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  givenname: Junda
  surname: Zhu
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  givenname: Yufeng
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  organization: State Key Laboratory of Mechanical System and Vibration, Institute of Robotics, Shanghai Jiao Tong University, Shanghai, China
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SubjectTerms Contact modeling
Differential geometry
Dynamics
filed robots
Force
Granular materials
Granular media
Intrusion
Locomotion
Mechanical analysis
Mechanical properties
Media
methods and tools for robot system design
Mobile robots
Robot dynamics
Robots
Stress
wheeled robots
Wheels
Title A Dynamic Resistive Force Model for Designing Mobile Robot in Granular Media
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