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The development of a soil trafficability model for legged vehicles on granular soils

Saaj, CM and Scott, G (2012) The development of a soil trafficability model for legged vehicles on granular soils Journal of Terramechanics, 49 (3-4). pp. 133-146.

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Abstract

This paper extends previous research in planetary microrover locomotion system analysis at the University of Surrey through the development of a legged microrover mobility model. This model compares various two- and three-dimensional soil cutting models to determine the most applicable model to legged locomotion in deformable soils, and is flexible to use any of these models depending on the leg shape, sinkage and other conditions. This baseline draught force model is used for determining the soil forces available for legged vehicle locomotion, as well as the soil thrust available to the vehicle footprint. Empirical investigations were performed with a robotic arm in planetary soil simulants to validate a legged mobility model through determination of the draft force of a robotic leg pushing through soil at constant and varying sinkage levels. The resulting locomotion performance model will be used to predict the ability of the legged vehicle to traverse a specific soil. An introduction to the planetary soil simulants used in this study (SSC-1 quartz-based sand and SSC-2 garnet-based sand) and the process used to determine their mechanical properties is also briefly presented to provide a baseline for this research.

Item Type: Article
Authors :
NameEmailORCID
Saaj, CMc.saaj@surrey.ac.ukUNSPECIFIED
Scott, GUNSPECIFIEDUNSPECIFIED
Date : 2012
Identification Number : 10.1016/j.jterra.2011.12.002
Contributors :
ContributionNameEmailORCID
UNSPECIFIEDKim, KUUNSPECIFIEDUNSPECIFIED
Depositing User : Symplectic Elements
Date Deposited : 17 May 2017 12:19
Last Modified : 17 May 2017 15:03
URI: http://epubs.surrey.ac.uk/id/eprint/834846

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