Cover Image

Investigation of Wheel Robot Grouser Width Parameter Effect on Robot Mobility in Soft Sand Terrain Using Sand Test Bed

Much research has been done to investigate the most ideal grouser parameters to improve a robot’s wheel mobility in sandy terrain. However, their area of research mainly focused on the normal wheel with fixed grousers. This paper showcases the study of performance of the assistive grouser wheel movi...

Full description

Saved in:
Bibliographic Details
Main Authors: Ikmanizardi, Basri, Intan Nur Aqiella, Che Aziz, Ahmad Najmuddin, Ibrahim, Fukuoka, Yasuhiroo
Format: Conference or Workshop Item
Language:English
English
Published: Springer Singapore 2024
Subjects:
TJ Mechanical engineering and machinery
TS Manufactures
Online Access:http://umpir.ump.edu.my/id/eprint/41219/1/Investigation%20of%20Wheel%20Robot%20Grouser%20Width%20Parameter%20Effect%20on%20Robot.pdf
http://umpir.ump.edu.my/id/eprint/41219/2/Investigation%20of%20Wheel%20Robot%20Grouser%20Width%20Parameter%20Effect%20on%20Robot%20Mobility%20in%20Soft%20Sand%20Terrain%20Using%20Sand%20Test%20Bed.pdf
http://umpir.ump.edu.my/id/eprint/41219/
https://doi.org/10.1007/978-981-99-8819-8_16
Tags: Add Tag
No Tags, Be the first to tag this record!
id my.ump.umpir.41219
record_format eprints
spelling my.ump.umpir.412192024-05-16T07:24:30Z http://umpir.ump.edu.my/id/eprint/41219/ Investigation of Wheel Robot Grouser Width Parameter Effect on Robot Mobility in Soft Sand Terrain Using Sand Test Bed Ikmanizardi, Basri Intan Nur Aqiella, Che Aziz Ahmad Najmuddin, Ibrahim Fukuoka, Yasuhiroo TJ Mechanical engineering and machinery TS Manufactures Much research has been done to investigate the most ideal grouser parameters to improve a robot’s wheel mobility in sandy terrain. However, their area of research mainly focused on the normal wheel with fixed grousers. This paper showcases the study of performance of the assistive grouser wheel moving on a flat surface sandy terrain attached with different grouser width parameters. Two different grouser shapes were fabricated which consist of C-Shape and Wider C-Shape, with two configurations forward facing and inverse. For each grouser set, one of the grousers was attached with 2 load cell sensors used to measure force. The grousers were tested across a total of 3 runs to identify its total average traction force acting on the grouser during the wheel’s movement. The results show increased maximum positive and negative forces when the grouser width is increased, which resulted in less net traction force. The inverse configuration also showed better results than forward facing. This shows that for assistive mechanism, increasing the width of the grouser may not increase the effectiveness of the grouser in generating traction force. Springer Singapore 2024 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/41219/1/Investigation%20of%20Wheel%20Robot%20Grouser%20Width%20Parameter%20Effect%20on%20Robot.pdf pdf en http://umpir.ump.edu.my/id/eprint/41219/2/Investigation%20of%20Wheel%20Robot%20Grouser%20Width%20Parameter%20Effect%20on%20Robot%20Mobility%20in%20Soft%20Sand%20Terrain%20Using%20Sand%20Test%20Bed.pdf Ikmanizardi, Basri and Intan Nur Aqiella, Che Aziz and Ahmad Najmuddin, Ibrahim and Fukuoka, Yasuhiroo (2024) Investigation of Wheel Robot Grouser Width Parameter Effect on Robot Mobility in Soft Sand Terrain Using Sand Test Bed. In: Intelligent Manufacturing and Mechatronics, Lecture Notes in Networks and Systems. 4th International conference on Innovative Manufacturing, Mechatronics and Materials Forum, iM3F2023 , 07 – 08 August 2023 , Pekan, Malaysia. pp. 199-207., 850. ISSN 2367-3389 ISBN 978-981-99-8819-8 https://doi.org/10.1007/978-981-99-8819-8_16
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 TJ Mechanical engineering and machinery
TS Manufactures
spellingShingle TJ Mechanical engineering and machinery
TS Manufactures
Ikmanizardi, Basri
Intan Nur Aqiella, Che Aziz
Ahmad Najmuddin, Ibrahim
Fukuoka, Yasuhiroo
Investigation of Wheel Robot Grouser Width Parameter Effect on Robot Mobility in Soft Sand Terrain Using Sand Test Bed
description Much research has been done to investigate the most ideal grouser parameters to improve a robot’s wheel mobility in sandy terrain. However, their area of research mainly focused on the normal wheel with fixed grousers. This paper showcases the study of performance of the assistive grouser wheel moving on a flat surface sandy terrain attached with different grouser width parameters. Two different grouser shapes were fabricated which consist of C-Shape and Wider C-Shape, with two configurations forward facing and inverse. For each grouser set, one of the grousers was attached with 2 load cell sensors used to measure force. The grousers were tested across a total of 3 runs to identify its total average traction force acting on the grouser during the wheel’s movement. The results show increased maximum positive and negative forces when the grouser width is increased, which resulted in less net traction force. The inverse configuration also showed better results than forward facing. This shows that for assistive mechanism, increasing the width of the grouser may not increase the effectiveness of the grouser in generating traction force.
format Conference or Workshop Item
author Ikmanizardi, Basri
Intan Nur Aqiella, Che Aziz
Ahmad Najmuddin, Ibrahim
Fukuoka, Yasuhiroo
author_facet Ikmanizardi, Basri
Intan Nur Aqiella, Che Aziz
Ahmad Najmuddin, Ibrahim
Fukuoka, Yasuhiroo
author_sort Ikmanizardi, Basri
title Investigation of Wheel Robot Grouser Width Parameter Effect on Robot Mobility in Soft Sand Terrain Using Sand Test Bed
title_short Investigation of Wheel Robot Grouser Width Parameter Effect on Robot Mobility in Soft Sand Terrain Using Sand Test Bed
title_full Investigation of Wheel Robot Grouser Width Parameter Effect on Robot Mobility in Soft Sand Terrain Using Sand Test Bed
title_fullStr Investigation of Wheel Robot Grouser Width Parameter Effect on Robot Mobility in Soft Sand Terrain Using Sand Test Bed
title_full_unstemmed Investigation of Wheel Robot Grouser Width Parameter Effect on Robot Mobility in Soft Sand Terrain Using Sand Test Bed
title_sort investigation of wheel robot grouser width parameter effect on robot mobility in soft sand terrain using sand test bed
publisher Springer Singapore
publishDate 2024
url http://umpir.ump.edu.my/id/eprint/41219/1/Investigation%20of%20Wheel%20Robot%20Grouser%20Width%20Parameter%20Effect%20on%20Robot.pdf
http://umpir.ump.edu.my/id/eprint/41219/2/Investigation%20of%20Wheel%20Robot%20Grouser%20Width%20Parameter%20Effect%20on%20Robot%20Mobility%20in%20Soft%20Sand%20Terrain%20Using%20Sand%20Test%20Bed.pdf
http://umpir.ump.edu.my/id/eprint/41219/
https://doi.org/10.1007/978-981-99-8819-8_16
_version_ 1822924321874509824
score 13.235362

Similar Items