Effects of Wheel Grouser Angle of Attack on Simulated Robot Wheel Performance on Soft Sand with High Slip Condition

Wheeled rover which is a lightweight wheeled robot is used for navigating over challenging terrain such as a steep soft sand incline. To improve the performance of the wheels on soft surfaces, the wheels are usually equipped with fixed grousers (lugs) on its wheels. However, even with the grousers t...

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Main Authors:	Ahmad Najmuddin, Ibrahim, Fukuoka, Yasuhiro, Siti Suhaila, Sabarudin
Format:	Conference or Workshop Item
Language:	English
Published:	IEEE 2019
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/25762/ http://umpir.ump.edu.my/id/eprint/25762/1/Effects%20of%20Wheel%20Grouser%20Angle%20of%20Attack.pdf

id	ump-25762
recordtype	eprints
spelling	ump-257622019-08-29T08:15:38Z http://umpir.ump.edu.my/id/eprint/25762/ Effects of Wheel Grouser Angle of Attack on Simulated Robot Wheel Performance on Soft Sand with High Slip Condition Ahmad Najmuddin, Ibrahim Fukuoka, Yasuhiro Siti Suhaila, Sabarudin TS Manufactures Wheeled rover which is a lightweight wheeled robot is used for navigating over challenging terrain such as a steep soft sand incline. To improve the performance of the wheels on soft surfaces, the wheels are usually equipped with fixed grousers (lugs) on its wheels. However, even with the grousers the wheels tend to experience high slippage and sinks into the soft sand surface, which is caused by the rotating motion of the grousers which excavates the sand underneath the wheel towards the back of the wheel. A solution has been proposed by previous research which reduces sand movement and subsequent sinkage by using a prototype angle adjustable grouser mechanism and proven to improve the rover performance on steep inclines. The purpose of this study is to investigate the effect of grouser angle of attack when moving under the sand surface, towards the interaction between the grouser and sand particle. For the simulation process, Discrete Element Method (DEM) is used to simulate the particle-particle and particle-grouser interaction. The result shows that maintaining a constant angle using the adjustable grouser is able to reduce the amount of sand being excavated from under the wheel towards the back of the wheel as tests in high slipping conditions shows less displacement of sand particles from under the wheel towards the surface of the wheel. The result will be used to assist in analyzing the optimal parameters for wheel grouser design for use on soft sand. IEEE 2019 Conference or Workshop Item NonPeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/25762/1/Effects%20of%20Wheel%20Grouser%20Angle%20of%20Attack.pdf Ahmad Najmuddin, Ibrahim and Fukuoka, Yasuhiro and Siti Suhaila, Sabarudin (2019) Effects of Wheel Grouser Angle of Attack on Simulated Robot Wheel Performance on Soft Sand with High Slip Condition. In: IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM 2019), 3-5 July 2019 , Osaka University, Japan. pp. 1-6.. (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TS Manufactures
spellingShingle	TS Manufactures Ahmad Najmuddin, Ibrahim Fukuoka, Yasuhiro Siti Suhaila, Sabarudin Effects of Wheel Grouser Angle of Attack on Simulated Robot Wheel Performance on Soft Sand with High Slip Condition
description	Wheeled rover which is a lightweight wheeled robot is used for navigating over challenging terrain such as a steep soft sand incline. To improve the performance of the wheels on soft surfaces, the wheels are usually equipped with fixed grousers (lugs) on its wheels. However, even with the grousers the wheels tend to experience high slippage and sinks into the soft sand surface, which is caused by the rotating motion of the grousers which excavates the sand underneath the wheel towards the back of the wheel. A solution has been proposed by previous research which reduces sand movement and subsequent sinkage by using a prototype angle adjustable grouser mechanism and proven to improve the rover performance on steep inclines. The purpose of this study is to investigate the effect of grouser angle of attack when moving under the sand surface, towards the interaction between the grouser and sand particle. For the simulation process, Discrete Element Method (DEM) is used to simulate the particle-particle and particle-grouser interaction. The result shows that maintaining a constant angle using the adjustable grouser is able to reduce the amount of sand being excavated from under the wheel towards the back of the wheel as tests in high slipping conditions shows less displacement of sand particles from under the wheel towards the surface of the wheel. The result will be used to assist in analyzing the optimal parameters for wheel grouser design for use on soft sand.
format	Conference or Workshop Item
author	Ahmad Najmuddin, Ibrahim Fukuoka, Yasuhiro Siti Suhaila, Sabarudin
author_facet	Ahmad Najmuddin, Ibrahim Fukuoka, Yasuhiro Siti Suhaila, Sabarudin
author_sort	Ahmad Najmuddin, Ibrahim
title	Effects of Wheel Grouser Angle of Attack on Simulated Robot Wheel Performance on Soft Sand with High Slip Condition
title_short	Effects of Wheel Grouser Angle of Attack on Simulated Robot Wheel Performance on Soft Sand with High Slip Condition
title_full	Effects of Wheel Grouser Angle of Attack on Simulated Robot Wheel Performance on Soft Sand with High Slip Condition
title_fullStr	Effects of Wheel Grouser Angle of Attack on Simulated Robot Wheel Performance on Soft Sand with High Slip Condition
title_full_unstemmed	Effects of Wheel Grouser Angle of Attack on Simulated Robot Wheel Performance on Soft Sand with High Slip Condition
title_sort	effects of wheel grouser angle of attack on simulated robot wheel performance on soft sand with high slip condition
publisher	IEEE
publishDate	2019
url	http://umpir.ump.edu.my/id/eprint/25762/ http://umpir.ump.edu.my/id/eprint/25762/1/Effects%20of%20Wheel%20Grouser%20Angle%20of%20Attack.pdf
first_indexed	2023-09-18T22:39:45Z
last_indexed	2023-09-18T22:39:45Z
_version_	1777416835726049280

Effects of Wheel Grouser Angle of Attack on Simulated Robot Wheel Performance on Soft Sand with High Slip Condition

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