TY - JOUR
T1 - Discrete element method-based studies on dynamic interactions of a lugged wheel with granular media
AU - Ravula, Preethi
AU - Acar, Gizem
AU - Balachandran, Balakumar
N1 - Publisher Copyright:
© 2021 ISTVS
PY - 2021/4
Y1 - 2021/4
N2 - Terramechanics plays an important role in determining the design and control of autonomous robots and other vehicles that move on granular surfaces. Traction capabilities, slippage, and sinkage of a robot are governed by the interaction of a robot's appendage with the operating terrain. It is important to understand how the terrain flows under this appendage during such an interaction. In this work, dynamics of soil performance and locomotion performance of a lugged wheel travelling on soft soil are numerically investigated. Studies are conducted with a two-dimensional model by using the discrete element method to analyze the interactions between a lugged wheel and the soil. The soil performance is studied by examining the force distribution and evolution of force networks during the course of the wheel travel. For two different control modes, namely, slip-based wheel control and angular velocity-based wheel control, the performance parameters such as, sinkage, traction, traction efficiency, and power consumption of the wheel are compared for various wheel configurations. The findings of this work are expected to be useful for optimal design and control of the lugged wheel travelling on deformable surfaces.
AB - Terramechanics plays an important role in determining the design and control of autonomous robots and other vehicles that move on granular surfaces. Traction capabilities, slippage, and sinkage of a robot are governed by the interaction of a robot's appendage with the operating terrain. It is important to understand how the terrain flows under this appendage during such an interaction. In this work, dynamics of soil performance and locomotion performance of a lugged wheel travelling on soft soil are numerically investigated. Studies are conducted with a two-dimensional model by using the discrete element method to analyze the interactions between a lugged wheel and the soil. The soil performance is studied by examining the force distribution and evolution of force networks during the course of the wheel travel. For two different control modes, namely, slip-based wheel control and angular velocity-based wheel control, the performance parameters such as, sinkage, traction, traction efficiency, and power consumption of the wheel are compared for various wheel configurations. The findings of this work are expected to be useful for optimal design and control of the lugged wheel travelling on deformable surfaces.
KW - DEM
KW - Force chains
KW - Lugged wheel
KW - Planetary rover
KW - Slip ratio
KW - Terramechanics
KW - Traction
KW - Traction performance
KW - Wheel control
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U2 - 10.1016/j.jterra.2021.01.002
DO - 10.1016/j.jterra.2021.01.002
M3 - Article
AN - SCOPUS:85099623200
SN - 0022-4898
VL - 94
SP - 49
EP - 62
JO - Journal of Terramechanics
JF - Journal of Terramechanics
ER -