Effect of Grouser Angle of Attack on Performance of Adjustable Robot Wheel Assistive Grouser

Wheeled rover mobile robot was designed to help human with the task that is out of human capability. Usually, it was used for driving over rough terrain for example on unconsolidated sandy dune incline. Normally rover was equipped with fixed grousers that were attached on its wheel but this type of...

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Main Authors:	Siti Suhaila, Sabarudin, Ahmad Najmuddin, Ibrahim, Fukuoka, Yasuhiro
Format:	Conference or Workshop Item
Language:	English
Published:	2019
Subjects:	TS Manufactures
Online Access:	http://umpir.ump.edu.my/id/eprint/25784/ http://umpir.ump.edu.my/id/eprint/25784/1/Effect%20of%20Grouser%20Angle%20of%20Attack%20on%20Performance1.pdf

id	ump-25784
recordtype	eprints
spelling	ump-257842019-08-30T06:50:53Z http://umpir.ump.edu.my/id/eprint/25784/ Effect of Grouser Angle of Attack on Performance of Adjustable Robot Wheel Assistive Grouser Siti Suhaila, Sabarudin Ahmad Najmuddin, Ibrahim Fukuoka, Yasuhiro TS Manufactures Wheeled rover mobile robot was designed to help human with the task that is out of human capability. Usually, it was used for driving over rough terrain for example on unconsolidated sandy dune incline. Normally rover was equipped with fixed grousers that were attached on its wheel but this type of wheel has a problem which is it tends to slip and sink into the sand. This problem happens when the wheel rotates and the grouser moves the sand from below of the wheel to the back of the wheel. This situation caused the sand accumulated behind the wheel. Previous researcher has designed an “assistive” grouser with adjustable angle to minimize the sand movement and subsequent sinkage to prevent this problem. The interaction between the rotation motion of an assistive grouser and the sand movement cannot be seen clearly during the experiment. The purpose of this study is to investigate the interaction between the rotation motion of single grouser and the sand movement by using computer simulation. Discrete Element Method (DEM) is used for the simulation process. From this simulation, the ef-fect of grouser movement towards generated resistance force by the sand particles was observed. In high slip condition where the grouser rotates in a static position, when there is higher number of particles move upward toward the surface as the grouser rotated, it will cause the wheel to dig the sand surface. It has high ten-dency for the wheel to getting stuck in real experiment. 2019 Conference or Workshop Item PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/25784/1/Effect%20of%20Grouser%20Angle%20of%20Attack%20on%20Performance1.pdf Siti Suhaila, Sabarudin and Ahmad Najmuddin, Ibrahim and Fukuoka, Yasuhiro (2019) Effect of Grouser Angle of Attack on Performance of Adjustable Robot Wheel Assistive Grouser. In: Joint Conference of 4th International Manufacturing Engineering Conference (iMEC) & 5th Asia-Pacific Conference on Manufacturing System (APCOMS), 21-22 August 2019 , Putrajaya, Malaysia. pp. 1-6.. (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TS Manufactures
spellingShingle	TS Manufactures Siti Suhaila, Sabarudin Ahmad Najmuddin, Ibrahim Fukuoka, Yasuhiro Effect of Grouser Angle of Attack on Performance of Adjustable Robot Wheel Assistive Grouser
description	Wheeled rover mobile robot was designed to help human with the task that is out of human capability. Usually, it was used for driving over rough terrain for example on unconsolidated sandy dune incline. Normally rover was equipped with fixed grousers that were attached on its wheel but this type of wheel has a problem which is it tends to slip and sink into the sand. This problem happens when the wheel rotates and the grouser moves the sand from below of the wheel to the back of the wheel. This situation caused the sand accumulated behind the wheel. Previous researcher has designed an “assistive” grouser with adjustable angle to minimize the sand movement and subsequent sinkage to prevent this problem. The interaction between the rotation motion of an assistive grouser and the sand movement cannot be seen clearly during the experiment. The purpose of this study is to investigate the interaction between the rotation motion of single grouser and the sand movement by using computer simulation. Discrete Element Method (DEM) is used for the simulation process. From this simulation, the ef-fect of grouser movement towards generated resistance force by the sand particles was observed. In high slip condition where the grouser rotates in a static position, when there is higher number of particles move upward toward the surface as the grouser rotated, it will cause the wheel to dig the sand surface. It has high ten-dency for the wheel to getting stuck in real experiment.
format	Conference or Workshop Item
author	Siti Suhaila, Sabarudin Ahmad Najmuddin, Ibrahim Fukuoka, Yasuhiro
author_facet	Siti Suhaila, Sabarudin Ahmad Najmuddin, Ibrahim Fukuoka, Yasuhiro
author_sort	Siti Suhaila, Sabarudin
title	Effect of Grouser Angle of Attack on Performance of Adjustable Robot Wheel Assistive Grouser
title_short	Effect of Grouser Angle of Attack on Performance of Adjustable Robot Wheel Assistive Grouser
title_full	Effect of Grouser Angle of Attack on Performance of Adjustable Robot Wheel Assistive Grouser
title_fullStr	Effect of Grouser Angle of Attack on Performance of Adjustable Robot Wheel Assistive Grouser
title_full_unstemmed	Effect of Grouser Angle of Attack on Performance of Adjustable Robot Wheel Assistive Grouser
title_sort	effect of grouser angle of attack on performance of adjustable robot wheel assistive grouser
publishDate	2019
url	http://umpir.ump.edu.my/id/eprint/25784/ http://umpir.ump.edu.my/id/eprint/25784/1/Effect%20of%20Grouser%20Angle%20of%20Attack%20on%20Performance1.pdf
first_indexed	2023-09-18T22:39:47Z
last_indexed	2023-09-18T22:39:47Z
_version_	1777416837900795904

Effect of Grouser Angle of Attack on Performance of Adjustable Robot Wheel Assistive Grouser

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