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A New Sensor for Robotic Mars Rovers in Sandy Terrains Predicting Critical Soil Flow Using the Spiral Soil Flow Model

Published online by Cambridge University Press:  22 June 2020

Saeed Ebrahimi Open the ORCID record for Saeed Ebrahimi [Opens in a new window] ,
Arman Mardani  and
Khalil Alipour
Saeed Ebrahimi*
Affiliation:
Department of Mechanical Engineeng, Yazd University, Yazd, Iran
Arman Mardani
Affiliation:
Department of Mechanical Engineeng, Yazd University, Yazd, Iran
Khalil Alipour
Affiliation:
Advanced Service Robots (ASR) Lab, Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran
*
*Corresponding author. E-mail: ebrahimi@yazd.ac.ir
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Summary

The current contribution presents a new sinkage sensor specified for an unmanned ground vehicle to find the exact sinkage zone of a wheel interacting with the soil particles. This sensor will be wrapped around the wheel, and consequently, contact analog outputs will be used in soil deposition and bulldozing effect prediction. Furthermore, the new sensor will be used for a novel soil flow calculation estimating the total mass variation of the control volume of soil particles beneath the wheel. Accordingly, the spiral model simulating the displacement of the particle is implemented to calculate the soil deposition.

Keywords

Bekker’s theoryIn-wheel sensorTraction forceUGVMars mission

Information

Type
Articles
Information
Robotica , Volume 39 , Issue 2 , February 2021 , pp. 346 - 365
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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