Granular Resistive Force Theory Extension for Saturated Wet Sand Ground
Amphibious environments formed from sand and water present a formidable challenge to the running motion of field robots, as the mixing of granular media (GM) and water makes the force laws of robotic legs more complicated during robot running. To this end, we extended the granular resistive force th...
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| Format: | Article |
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MDPI AG
2022-08-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/10/9/721 |
| _version_ | 1797485611956830208 |
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| author | Xinmeng Ma Gang Wang Kaixin Liu Xi Chen Jixin Wang Biye Pan Liquan Wang |
| author_facet | Xinmeng Ma Gang Wang Kaixin Liu Xi Chen Jixin Wang Biye Pan Liquan Wang |
| author_sort | Xinmeng Ma |
| collection | DOAJ |
| description | Amphibious environments formed from sand and water present a formidable challenge to the running motion of field robots, as the mixing of granular media (GM) and water makes the force laws of robotic legs more complicated during robot running. To this end, we extended the granular resistive force theory (RFT) to saturated wet granular media, named saturated granular RFT (SGRFT), which can be suitable for saturated wet sand submerged in water. This method can extend RFT for dry GM to saturated wet granular media (SWGM) by using the method’s velocity and depth coefficient. The force laws of the robotic legs in dry GM and SWGM were tested, compared, and analyzed. The difference in force laws between the two kinds of media, from the sensitivity to speed (10 mm/s~50 mm/s) and depth (0~60 mm), was calculated. More than 70% of the prediction results of the horizontal resistive force using SGRFT have an error of less than 6%. The effectiveness of the SGRFT in legged robots is proved by simulation and testing of three kinds of legs. The difference in force laws when running is proved by the experiments of the robot equipped with the propeller-leg in dry GM and SWGM, which is vital for amphibious robots working in shoal environments (including dry GM and SWGM ground). |
| first_indexed | 2024-03-09T23:21:16Z |
| format | Article |
| id | doaj.art-3afe6a17bb1b4c35b73a900c97b5f968 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-09T23:21:16Z |
| publishDate | 2022-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-3afe6a17bb1b4c35b73a900c97b5f9682023-11-23T17:25:41ZengMDPI AGMachines2075-17022022-08-0110972110.3390/machines10090721Granular Resistive Force Theory Extension for Saturated Wet Sand GroundXinmeng Ma0Gang Wang1Kaixin Liu2Xi Chen3Jixin Wang4Biye Pan5Liquan Wang6College of Mechanical Electronical and Engineering, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaCollege of Information and Communication Engineering, Harbin Engineering University, Harbin 150001, ChinaCollege of Mechanical Electronical and Engineering, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaCollege of Mechanical Electronical and Engineering, Harbin Engineering University, Harbin 150001, ChinaAmphibious environments formed from sand and water present a formidable challenge to the running motion of field robots, as the mixing of granular media (GM) and water makes the force laws of robotic legs more complicated during robot running. To this end, we extended the granular resistive force theory (RFT) to saturated wet granular media, named saturated granular RFT (SGRFT), which can be suitable for saturated wet sand submerged in water. This method can extend RFT for dry GM to saturated wet granular media (SWGM) by using the method’s velocity and depth coefficient. The force laws of the robotic legs in dry GM and SWGM were tested, compared, and analyzed. The difference in force laws between the two kinds of media, from the sensitivity to speed (10 mm/s~50 mm/s) and depth (0~60 mm), was calculated. More than 70% of the prediction results of the horizontal resistive force using SGRFT have an error of less than 6%. The effectiveness of the SGRFT in legged robots is proved by simulation and testing of three kinds of legs. The difference in force laws when running is proved by the experiments of the robot equipped with the propeller-leg in dry GM and SWGM, which is vital for amphibious robots working in shoal environments (including dry GM and SWGM ground).https://www.mdpi.com/2075-1702/10/9/721contact modelingfield robotslegged locomotionwet granular media |
| spellingShingle | Xinmeng Ma Gang Wang Kaixin Liu Xi Chen Jixin Wang Biye Pan Liquan Wang Granular Resistive Force Theory Extension for Saturated Wet Sand Ground Machines contact modeling field robots legged locomotion wet granular media |
| title | Granular Resistive Force Theory Extension for Saturated Wet Sand Ground |
| title_full | Granular Resistive Force Theory Extension for Saturated Wet Sand Ground |
| title_fullStr | Granular Resistive Force Theory Extension for Saturated Wet Sand Ground |
| title_full_unstemmed | Granular Resistive Force Theory Extension for Saturated Wet Sand Ground |
| title_short | Granular Resistive Force Theory Extension for Saturated Wet Sand Ground |
| title_sort | granular resistive force theory extension for saturated wet sand ground |
| topic | contact modeling field robots legged locomotion wet granular media |
| url | https://www.mdpi.com/2075-1702/10/9/721 |
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