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Effect of Grouser Angle of Attack on Performance of Adjustable Robot Wheel Assistive Grouser

机译：Crouser攻角对可调节机器人轮子辅助Frouser性能的影响

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摘要

Wheeled rover mobile robot was designed to help human with the task that is out of human capability. Usually, it was used for driving over rough terrain for example on unconsolidated sandy dune incline. Normally rover was equipped with fixed grousers that were attached on its wheel but this type of wheel has a problem which is it tends to slip and sink into the sand. This problem happens when the wheel rotates and the grouser moves the sand from below of the wheel to the back of the wheel. This situation caused the sand accumulated behind the wheel. Previous researcher has designed an "assistive" grouser with adjustable angle to minimize the sand movement and subsequent sinkage to prevent this problem. The interaction between the rotation motion of an assistive grouser and the sand movement cannot be seen clearly during the experiment. The purpose of this study is to investigate the interaction between the rotation motion of single grouser and the sand movement by using computer simulation. Discrete Element Method (DEM) is used for the simulation process. From this simulation, the effect of grouser movement towards generated resistance force by the sand particles was observed. In high slip condition where the grouser rotates in a static position, when there is higher number of particles move upward toward the surface as the grouser rotated, it will cause the wheel to dig the sand surface. It has high tendency for the wheel to getting stuck in real experiment.
机译：轮式流动机器人旨在帮助人类摆脱人类能力的任务。通常，它用于在粗糙的地形上驾驶，例如在未溶解的桑迪沙丘斜坡上。通常的流浪者配备了固定的压紧，附着在其车轮上，但这种类型的轮子存在问题，这是倾向于滑入和沉入沙子中。当车轮旋转时，呼吸器将砂从车轮的下方移动到车轮背面时发生这种问题。这种情况导致沙子积聚在车轮后面。以前的研究人员设计了一个具有可调角度的“辅助”的小型，以最大限度地减少砂运动和随后的沉降以防止这种问题。在实验期间，在实验期间，辅助扶手和砂运动的旋转运动之间的相互作用。本研究的目的是通过使用计算机模拟来研究单个胶囊和砂运动的旋转运动之间的相互作用。离散元素方法（DEM）用于仿真过程。从该模拟中，观察到砂颗粒对产生抗性力的刺穿运动效果。在粗滑子在静止位置旋转的高滑动条件下，当压栅旋转时朝向表面向上向上移动时，将导致车轮挖掘沙面。它对车轮陷入了真正的实验中，它具有很高的趋势。

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