Measurement of stress distributions of a wheel with grousers traveling on loose soil

Shoya Higa, Kazumasa Sawada, Kenji Nagaoka, Keiji Nagatani, Kazuya Yoshida

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

7 Citations (Scopus)

Abstract

A wheeled mobile robot traveling on loose soil has wheels with grousers (i.e., lugs) on their surface to improve its mobility performance. Although previous studies have analysis and modeling of the mobility performance of a wheel with grousers, most of them did not cover the stress distribution of the wheels. In this study, we measured the three-dimensional forces acting on the grouser and three locations of the wheel surface, respectively. The stress distributions generated beneath the wheel with grousers at every angle of the wheel rotation were represented based on the three-dimensional force data. The stress distributions showed that the shear stress hardly affects the wheel surface between each grouser.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2828-2833
Number of pages6
ISBN (Electronic)9781467380263
DOIs
Publication statusPublished - 2016 Jun 8
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: 2016 May 162016 May 21

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2016-June
ISSN (Print)1050-4729

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period16/5/1616/5/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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