Bulletin of the American Physical Society
71st Annual Meeting of the APS Division of Fluid Dynamics
Volume 63, Number 13
Sunday–Tuesday, November 18–20, 2018; Atlanta, Georgia
Session L06: Forces, Flows, and Locomotion in Granular Media
4:05 PM–6:41 PM,
Monday, November 19, 2018
Georgia World Congress Center
Room: B208
Chair: Daniel Goldman, Georgia Institute of Technology
Abstract ID: BAPS.2018.DFD.L06.3
Abstract: L06.00003 : Rapid Wheeled Locomotion in Dry Granular Media*
4:31 PM–4:44 PM
Presenter:
Andras Karsai
(Georgia Inst of Tech)
Authors:
Andras Karsai
(Georgia Inst of Tech)
Shashank Agarwal
(Massachusetts Inst of Tech-MIT)
Kenneth N Kamrin
(Massachusetts Inst of Tech-MIT)
Daniel I Goldman
(Georgia Inst of Tech)
Wheeled locomotion can be an energy efficient means of traversing ground, but when applied to soft granular terrain, excessive wheel slippage and sinkage due to overly fast wheel actuations can entrap vehicles. We examine the scenarios of a rapidly turning wheel in dry granular media using our lab’s “robophysics” principles by developing an automated experimental apparatus based on terramechanics testbeds. This setup allows us to compare wheeled locomotion experiments to rheological models of intruder-substrate interaction, such as Resistive Force Theory and granular plasticity, in high-speed regimes where rapid shearing can cause changes in the rheological behavior. For a rigid wheel with circumferential protrusions (grousers), we observe that increasing wheel rotational speed leads to sudden increased slippage and sinkage into granular media at a critical rotation speed, after which horizontal speed cannot increase. This phenomenon appears to enforce a kind of speed limit in locomotion through granular media, mediated by the rheological properties of the medium itself.
*This work is supported by the Army Research Office (ARO). Many thanks to our co-authors/collaborators Shashank Agarwal (MIT) and Ken Kamrin (MIT), and to all members of the CRAB Lab at Georgia Tech.
To cite this abstract, use the following reference: http://meetings.aps.org/link/BAPS.2018.DFD.L06.3
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