Study on bearing performance for inching worm locomotion using characteristics of wheel subsidence on loose soil

Daisuke Fujiwara, Kojiro Iizuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In general, slipping and sinking on the rough terrain is lead to poor condition for planetary explorations robot, which is equipped with a cylindrical typed wheel. Meanwhile, in a robot, which is equipped with inching worm locomotion, slipping and sinking lead to increase a traveling performance because the more sinking and slipping of the robot is, the larger the bearing force in the back of a wheel increases. Moreover, in the inching locomotion, the wheel travels during sharing soil beneath the wheel and pushing soil in backward. However, this model was not investigated before. This paper investigates the relationship between the bearing force in the back of the wheel and sinkage. For analysis, firstly, this paper performs theoretical consideration and numerical simulation of a bearing force using bulldozing resistance model. Secondly, this paper performs wheel bulldozing experiment. In order to investigate the difference of bearing force when the wheel size is changed, this paper sets three wheel size. From the simulation and experimental results, the Hegedus's model corresponds with the experimental results in each wheel size. Additionally, the bearing force was observed to increase when the sinkage was increased. Thus, the ability of the inching locomotion using deep sinkage is high.

Original languageEnglish
Title of host publicationAIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages930-935
Number of pages6
Volume2018-July
ISBN (Print)9781538618547
DOIs
Publication statusPublished - 2018 Aug 30
Event2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand
Duration: 2018 Jul 92018 Jul 12

Other

Other2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
CountryNew Zealand
CityAuckland
Period18/7/918/7/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Fingerprint Dive into the research topics of 'Study on bearing performance for inching worm locomotion using characteristics of wheel subsidence on loose soil'. Together they form a unique fingerprint.

  • Cite this

    Fujiwara, D., & Iizuka, K. (2018). Study on bearing performance for inching worm locomotion using characteristics of wheel subsidence on loose soil. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Vol. 2018-July, pp. 930-935). [8452437] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452437