二輪ステアリング機構を備えた車両の浅い高密度粒状媒体中での移動
A vehicle with a two-wheel steering system mobile in shallow dense granular media
独立回転する前輪2輪のステアリング機構を持つ車両を設計し、密度0.8のピンポン球層中での移動性能と操縦性を評価した。ステアリングにより車両前方に形成される詰まった球の抵抗を低減でき、片輪のみ回転させると逆方向に旋回できることを示した。
著者: Po-Yi Lee, Meng-Chi Tsai, I-Ta Hsieh, Pin-Ju Tseng, Guo-Jie Jason Gao
分類: cond-mat.soft, cs.RO
原文アブストラクト
We design a vehicle with a steering system made of two independently rotatable wheels on the front. We quantify the effectiveness of the steering system in the mobility and maneuverability of the vehicle running in a box containing a layer ping-pong balls with a packing density 0.8, below the random close packing value 0.84 in 2D. The steering system can reduce the resistance exerted by the jammed balls formed ahead of the fast-moving vehicle. Moreover, if only one of the two steering wheels rotates, the vehicle can turn into the direction opposite to the rotating wheel. The steering system performs more efficiently if the wheels engage the ping-pong balls better by increasing the contact area between the wheels and the balls. We advocate applying our design to machines moving in granular materials with a moderate packing density.