TY - GEN
T1 - Terramechanics-based propulsive characteristics of mobile robot driven by Archimedean screw mechanism on soft soil
AU - Nagaoka, Kenji
AU - Otsuki, Masatsugu
AU - Kubota, Takashi
AU - Tanaka, Satoshi
PY - 2010/12/1
Y1 - 2010/12/1
N2 - This paper describes the mathematical modeling and the propulsive characteristics of a novel robot driven by Archimedean screw mechanisms, named Screw Drive Rover. For secure locomotion on soft soil, the proposed rover would become one of the good solutions because of its robustness to slipping and getting stuck in the soil. Furthermore, the rover is expected to move in various directions by using the dual screw units. However, the interaction between such screw unit and the surrounding soil is quite complicated and remains undefined. So, this paper attempts to model the tractive effort of the rover on the soil. The mathematical modeling is newly developed based upon terramechanics, addressing soil-vehicle interactive mechanics. Finally, the validity of the proposed model is demonstrated by simulation analyses.
AB - This paper describes the mathematical modeling and the propulsive characteristics of a novel robot driven by Archimedean screw mechanisms, named Screw Drive Rover. For secure locomotion on soft soil, the proposed rover would become one of the good solutions because of its robustness to slipping and getting stuck in the soil. Furthermore, the rover is expected to move in various directions by using the dual screw units. However, the interaction between such screw unit and the surrounding soil is quite complicated and remains undefined. So, this paper attempts to model the tractive effort of the rover on the soil. The mathematical modeling is newly developed based upon terramechanics, addressing soil-vehicle interactive mechanics. Finally, the validity of the proposed model is demonstrated by simulation analyses.
UR - http://www.scopus.com/inward/record.url?scp=78651473589&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78651473589&partnerID=8YFLogxK
U2 - 10.1109/IROS.2010.5651010
DO - 10.1109/IROS.2010.5651010
M3 - Conference contribution
AN - SCOPUS:78651473589
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 4946
EP - 4951
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -