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Rover wheel assistive grouser shape effects on traction force in flat soft terrain

This paper presents the study of different grouser shapes on the performance of the assistive grouser wheel travelling on a flat surface loose soil terrain. This work is an extension from our previous work exploring the rover wheel assistive grouser angle of attack effects on traction force in soft...

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Main Authors: Intan Nur Aqiella, Che Aziz, Ahmad Najmuddin, Ibrahim, Ikmanizardi, Basri, Fukuoka, Yasuhiro
Format: Conference or Workshop Item
Language:English
English
Published: Institute of Electrical and Electronics Engineers Inc. 2023
Subjects:
T Technology (General)
TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TK Electrical engineering. Electronics Nuclear engineering
TS Manufactures
Online Access:http://umpir.ump.edu.my/id/eprint/38765/1/Rover%20wheel%20assistive%20grouser%20shape%20effects%20on%20traction%20force.pdf
http://umpir.ump.edu.my/id/eprint/38765/2/Rover%20wheel%20assistive%20grouser%20shape%20effects%20on%20traction%20force%20in%20flat%20soft%20terrain_ABS.pdf
http://umpir.ump.edu.my/id/eprint/38765/
https://doi.org/10.1109/I2CACIS57635.2023.10193664
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spelling my.ump.umpir.387652023-11-06T04:30:00Z http://umpir.ump.edu.my/id/eprint/38765/ Rover wheel assistive grouser shape effects on traction force in flat soft terrain Intan Nur Aqiella, Che Aziz Ahmad Najmuddin, Ibrahim Ikmanizardi, Basri Fukuoka, Yasuhiro T Technology (General) TA Engineering (General). Civil engineering (General) TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering TS Manufactures This paper presents the study of different grouser shapes on the performance of the assistive grouser wheel travelling on a flat surface loose soil terrain. This work is an extension from our previous work exploring the rover wheel assistive grouser angle of attack effects on traction force in soft terrain. Therefore, a new experiment involving the different grouser shapes on the assistive grouser wheel must be conducted to comprehend the interactions between the grouser and loose soil. From observation, the bulldozing effect of the assistive grouser is also influenced by the grouser shapes. Further understanding of the soil flow also effect of the grouser shape design in general. Hence, we have developed 4 different grouser shapes to be attached to the single wheel rover testbed to evaluate the effects of the shape to the performance of the assistive grouser wheel on a 0-degree slope loose soil surface. The grouser shapes consisted of Inverse Parallel, C-Shape, Inverse C-Shape and Inverse Chevron Shape. The average total traction force and current consumption was examined. It was observed during the grouser entering the sand surface, the sand piled up onto the grouser surface effecting the value of average total traction force. This was caused by surface area of the grouser. The more surface area of the assistive grouser, the more traction force generated to push the wheel forward. Based on the experimental results, it was concluded that Inverse Parallel is the optimal grouser design for use as assistive grouser in wheeled rover on soft sand, as it has the lowest surface area and the lowest average total traction force. However, Inverse Chevron generated the least current consumption by the half-wheel rover. These results indicate that the traction force of the assistive grouser is not affected by shape, but the width and depth of the assistive grouser. Institute of Electrical and Electronics Engineers Inc. 2023 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/38765/1/Rover%20wheel%20assistive%20grouser%20shape%20effects%20on%20traction%20force.pdf pdf en http://umpir.ump.edu.my/id/eprint/38765/2/Rover%20wheel%20assistive%20grouser%20shape%20effects%20on%20traction%20force%20in%20flat%20soft%20terrain_ABS.pdf Intan Nur Aqiella, Che Aziz and Ahmad Najmuddin, Ibrahim and Ikmanizardi, Basri and Fukuoka, Yasuhiro (2023) Rover wheel assistive grouser shape effects on traction force in flat soft terrain. In: 2023 IEEE International Conference on Automatic Control and Intelligent Systems, I2CACIS 2023 - Proceedings, 17 June 2023 , Hybrid, Shah Alam. pp. 281-286.. ISBN 979-835032130-2 https://doi.org/10.1109/I2CACIS57635.2023.10193664
institution Universiti Malaysia Pahang Al-Sultan Abdullah
building UMPSA Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang Al-Sultan Abdullah
content_source UMPSA Institutional Repository
url_provider http://umpir.ump.edu.my/
language English
English
topic T Technology (General)
TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TK Electrical engineering. Electronics Nuclear engineering
TS Manufactures
spellingShingle T Technology (General)
TA Engineering (General). Civil engineering (General)
TJ Mechanical engineering and machinery
TK Electrical engineering. Electronics Nuclear engineering
TS Manufactures
Intan Nur Aqiella, Che Aziz
Ahmad Najmuddin, Ibrahim
Ikmanizardi, Basri
Fukuoka, Yasuhiro
Rover wheel assistive grouser shape effects on traction force in flat soft terrain
description This paper presents the study of different grouser shapes on the performance of the assistive grouser wheel travelling on a flat surface loose soil terrain. This work is an extension from our previous work exploring the rover wheel assistive grouser angle of attack effects on traction force in soft terrain. Therefore, a new experiment involving the different grouser shapes on the assistive grouser wheel must be conducted to comprehend the interactions between the grouser and loose soil. From observation, the bulldozing effect of the assistive grouser is also influenced by the grouser shapes. Further understanding of the soil flow also effect of the grouser shape design in general. Hence, we have developed 4 different grouser shapes to be attached to the single wheel rover testbed to evaluate the effects of the shape to the performance of the assistive grouser wheel on a 0-degree slope loose soil surface. The grouser shapes consisted of Inverse Parallel, C-Shape, Inverse C-Shape and Inverse Chevron Shape. The average total traction force and current consumption was examined. It was observed during the grouser entering the sand surface, the sand piled up onto the grouser surface effecting the value of average total traction force. This was caused by surface area of the grouser. The more surface area of the assistive grouser, the more traction force generated to push the wheel forward. Based on the experimental results, it was concluded that Inverse Parallel is the optimal grouser design for use as assistive grouser in wheeled rover on soft sand, as it has the lowest surface area and the lowest average total traction force. However, Inverse Chevron generated the least current consumption by the half-wheel rover. These results indicate that the traction force of the assistive grouser is not affected by shape, but the width and depth of the assistive grouser.
format Conference or Workshop Item
author Intan Nur Aqiella, Che Aziz
Ahmad Najmuddin, Ibrahim
Ikmanizardi, Basri
Fukuoka, Yasuhiro
author_facet Intan Nur Aqiella, Che Aziz
Ahmad Najmuddin, Ibrahim
Ikmanizardi, Basri
Fukuoka, Yasuhiro
author_sort Intan Nur Aqiella, Che Aziz
title Rover wheel assistive grouser shape effects on traction force in flat soft terrain
title_short Rover wheel assistive grouser shape effects on traction force in flat soft terrain
title_full Rover wheel assistive grouser shape effects on traction force in flat soft terrain
title_fullStr Rover wheel assistive grouser shape effects on traction force in flat soft terrain
title_full_unstemmed Rover wheel assistive grouser shape effects on traction force in flat soft terrain
title_sort rover wheel assistive grouser shape effects on traction force in flat soft terrain
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2023
url http://umpir.ump.edu.my/id/eprint/38765/1/Rover%20wheel%20assistive%20grouser%20shape%20effects%20on%20traction%20force.pdf
http://umpir.ump.edu.my/id/eprint/38765/2/Rover%20wheel%20assistive%20grouser%20shape%20effects%20on%20traction%20force%20in%20flat%20soft%20terrain_ABS.pdf
http://umpir.ump.edu.my/id/eprint/38765/
https://doi.org/10.1109/I2CACIS57635.2023.10193664
_version_ 1822923745529954304
score 13.235362

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