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Rover wheel assistive grouser angle of attack effects on traction force in soft terrain

This paper presents the effects of different grouser angle of attacks on the traction performance of an assistive grouser wheel traversing on soft sandy terrain. This work is an extension from our previous work on assistive grousers attached to a rover wheel to improve performance on soft terrain, w...

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Main Authors: Intan Nur Aqiella, Che Aziz, Ahmad Najmuddin, Ibrahim, Ikmanizardi, Basri, Fukuoka, Yasuhiroo
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/38775/1/Rover%20wheel%20assistive%20grouser%20angle%20of%20attack%20effects.pdf
http://umpir.ump.edu.my/id/eprint/38775/2/Rover%20wheel%20assistive%20grouser%20angle%20of%20attack%20effects%20on%20traction%20force%20in%20soft%20terrain_ABS.pdf
http://umpir.ump.edu.my/id/eprint/38775/
https://doi.org/10.1109/CSPA57446.2023.10087721
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spelling my.ump.umpir.387752023-11-06T06:45:19Z http://umpir.ump.edu.my/id/eprint/38775/ Rover wheel assistive grouser angle of attack effects on traction force in soft terrain Intan Nur Aqiella, Che Aziz Ahmad Najmuddin, Ibrahim Ikmanizardi, Basri Fukuoka, Yasuhiroo 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 effects of different grouser angle of attacks on the traction performance of an assistive grouser wheel traversing on soft sandy terrain. This work is an extension from our previous work on assistive grousers attached to a rover wheel to improve performance on soft terrain, where traversing and climbing performance for wheeled rover is improved on steep slopes up to 30-degrees by using assistive grousers rather than conventional fixed grousers. Thus, new experiment correlated with the assistive grouser must be developed for further understanding of the sand-grouser interaction. It was observed that the performance of assistive grousers to reduce sinkage and generate forward traction is influenced by the assistive grousers angle of attack, shape and size. Consequently, for this study we developed a single wheel rover testbed to measure the effects of grouser angle of attack on traction force generated. Grouser attack angles that were experimented are 0,10,20,30 and 40-degrees, on a 0-degree slope sand surface. It was observed that during a grouser's movement, there are instances where a forward and backward traction was generated depending on the position of the grouser during wheel rotation. This was hypothesized to be caused by the imbalance in traction generation by the inner and outer side of the grouser, and also due to the variance in traction force generation by multiple grousers moving under the sand surface at the same time with different speed due to geometric constraints of the assistive grouser horizontal movement. It was concluded that for 0-degree slope, a 0-degree angle of attack is the most effective, and there is considerable effect of using multiple grousers and distance from the wheel on grouser traction generation. Results indicate that the shape of the grouser could increase the effectiveness of the grouser for a future study. Institute of Electrical and Electronics Engineers Inc. 2023 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/38775/1/Rover%20wheel%20assistive%20grouser%20angle%20of%20attack%20effects.pdf pdf en http://umpir.ump.edu.my/id/eprint/38775/2/Rover%20wheel%20assistive%20grouser%20angle%20of%20attack%20effects%20on%20traction%20force%20in%20soft%20terrain_ABS.pdf Intan Nur Aqiella, Che Aziz and Ahmad Najmuddin, Ibrahim and Ikmanizardi, Basri and Fukuoka, Yasuhiroo (2023) Rover wheel assistive grouser angle of attack effects on traction force in soft terrain. In: 2023 19th IEEE International Colloquium on Signal Processing and Its Applications, CSPA 2023 - Conference Proceedings, 3-4 March 2023 , Kedah. pp. 236-241.. ISBN 978-166547692-8 https://doi.org/10.1109/CSPA57446.2023.10087721
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, Yasuhiroo
Rover wheel assistive grouser angle of attack effects on traction force in soft terrain
description This paper presents the effects of different grouser angle of attacks on the traction performance of an assistive grouser wheel traversing on soft sandy terrain. This work is an extension from our previous work on assistive grousers attached to a rover wheel to improve performance on soft terrain, where traversing and climbing performance for wheeled rover is improved on steep slopes up to 30-degrees by using assistive grousers rather than conventional fixed grousers. Thus, new experiment correlated with the assistive grouser must be developed for further understanding of the sand-grouser interaction. It was observed that the performance of assistive grousers to reduce sinkage and generate forward traction is influenced by the assistive grousers angle of attack, shape and size. Consequently, for this study we developed a single wheel rover testbed to measure the effects of grouser angle of attack on traction force generated. Grouser attack angles that were experimented are 0,10,20,30 and 40-degrees, on a 0-degree slope sand surface. It was observed that during a grouser's movement, there are instances where a forward and backward traction was generated depending on the position of the grouser during wheel rotation. This was hypothesized to be caused by the imbalance in traction generation by the inner and outer side of the grouser, and also due to the variance in traction force generation by multiple grousers moving under the sand surface at the same time with different speed due to geometric constraints of the assistive grouser horizontal movement. It was concluded that for 0-degree slope, a 0-degree angle of attack is the most effective, and there is considerable effect of using multiple grousers and distance from the wheel on grouser traction generation. Results indicate that the shape of the grouser could increase the effectiveness of the grouser for a future study.
format Conference or Workshop Item
author Intan Nur Aqiella, Che Aziz
Ahmad Najmuddin, Ibrahim
Ikmanizardi, Basri
Fukuoka, Yasuhiroo
author_facet Intan Nur Aqiella, Che Aziz
Ahmad Najmuddin, Ibrahim
Ikmanizardi, Basri
Fukuoka, Yasuhiroo
author_sort Intan Nur Aqiella, Che Aziz
title Rover wheel assistive grouser angle of attack effects on traction force in soft terrain
title_short Rover wheel assistive grouser angle of attack effects on traction force in soft terrain
title_full Rover wheel assistive grouser angle of attack effects on traction force in soft terrain
title_fullStr Rover wheel assistive grouser angle of attack effects on traction force in soft terrain
title_full_unstemmed Rover wheel assistive grouser angle of attack effects on traction force in soft terrain
title_sort rover wheel assistive grouser angle of attack effects on traction force in soft terrain
publisher Institute of Electrical and Electronics Engineers Inc.
publishDate 2023
url http://umpir.ump.edu.my/id/eprint/38775/1/Rover%20wheel%20assistive%20grouser%20angle%20of%20attack%20effects.pdf
http://umpir.ump.edu.my/id/eprint/38775/2/Rover%20wheel%20assistive%20grouser%20angle%20of%20attack%20effects%20on%20traction%20force%20in%20soft%20terrain_ABS.pdf
http://umpir.ump.edu.my/id/eprint/38775/
https://doi.org/10.1109/CSPA57446.2023.10087721
_version_ 1822923747902881792
score 13.235362

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