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This study explores helical design in vehicles for granular media. Simulations and experiments show that while helical designs can reduce slippage, their effectiveness is limited by increasing slip and gravity.

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Area of Science:

  • Robotics and Granular Mechanics
  • Computational Physics and Engineering

Background:

  • Understanding vehicle translation in granular media is crucial for planetary exploration and terrestrial applications.
  • Helical designs, like Archimedes screws, offer unique locomotion principles in challenging terrains.

Purpose of the Study:

  • To investigate the role of helical design in mitigating slippage for vehicles in granular media.
  • To validate simulation models against experimental data for granular locomotion.

Main Methods:

  • Employed discrete element method (DEM) and multi-body dynamics (MBD) simulations.
  • Conducted experiments using a double-helix Archimedes screw propelled vehicle in soda-lime glass beads.
  • Validated granular parameters and simulation results against experimental data.

Main Results:

  • Multi-body dynamics-discrete element method (MBD-DEM) simulations provide reliable dynamic velocity estimates.
  • The study provides simulation parameters for glass, ABS, and glass-ABS materials.
  • The vehicle's motion adheres to granular scaling laws under constant slip conditions across different gravities.

Conclusions:

  • Helical design's effectiveness in granular media is influenced by slip and gravity.
  • The research validates MBD-DEM as a reliable tool for predicting granular vehicle dynamics.
  • Findings contribute to the design of efficient locomotion systems for granular environments.