Discrete element method-based studies on dynamic interactions of a lugged wheel with granular media. (April 2021)

• Record Type: Journal Article
• Authors: Ravula, Preethi; Acar, Gizem; Balachandran, Balakumar
• Is Part Of: Journal of terramechanics. Volume 94(2021)
• Page Start: 49
• Page End: 62
• Publication Date: 2021-04
• Subjects: DEM -- Terramechanics -- Planetary rover -- Traction -- Force chains -- Slip ratio -- Lugged wheel -- Wheel control -- Traction performance; Trafficability -- Periodicals; Praticabilité (Routes) -- Périodiques; Trafficability; Periodicals; 629.222
• DOI: 10.1016/j.jterra.2021.01.002
• Languages: English
• ISSNs: 0022-4898

Abstract

Highlights: Wheel interaction generated longitudinal and transverse force chains in the soil. Force networks in the soil are concentrated in the forward path of the wheel. Traction performance of the wheel increases with lug length and traction load. Non-monotonic behavior observed for wheel performance with respect to lug width. Performance is similar for angular velocity and slip controls as slip increases. Abstract: Terramechanics plays an important role in determining the design and control of autonomous robots and other vehicles that move on granular surfaces. Traction capabilities, slippage, and sinkage of a robot are governed by the interaction of a robot's appendage with the operating terrain. It is important to understand how the terrain flows under this appendage during such an interaction. In this work, dynamics of soil performance and locomotion performance of a lugged wheel travelling on soft soil are numerically investigated. Studies are conducted with a two-dimensional model by using the discrete element method to analyze the interactions between a lugged wheel and the soil. The soil performance is studied by examining the force distribution and evolution of force networks during the course of the wheel travel. For two different control modes, namely, slip-based wheel control and angular velocity-based wheel control, the performance parameters such as, sinkage, traction, traction efficiency, and power consumption of the wheel are compared for various wheel configurations. The findings of this work are expected to be useful for optimal design and control of the lugged wheel travelling on deformable surfaces.