We designed and built a 24-kg tracked robot, named SnoBot, based on the performance of a 1400-kg manned vehicle scaled using Bekker mobility theory. We then documented the mobility of the robot for 10 cases of deep snow and four cases of shallow snow. The scaled predictions agreed well with average sinkage, resistance and traction measured in deep snow and thus gave useful design guidance. Nevertheless, large differences occurred between measured and predicted snow-compaction resistance on individual test days. The behavior of actual snow packs is difficult to capture using simple Bekker theory. Most deep-snow packs showed a linear relationship between pressure and sinkage for small indentation, followed by a steep rise in pressure as indentation compacted the snow against the ground. Also, small strength variations due to icy layers were important. SnoBot traveled easily over ice crusts that were much too weak to support foot travel. The results indicate that a lightweight tracked robot can display excellent deep-snow mobility when ground clearance, motor torque and energy storage allow for proportionally high sinkage and motion resistance compared with larger vehicles.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Mobility of a lightweight tracked robot over deep snow


    Weitere Titelangaben:

    Tiefschnee-Mobilität eines Leichtbau-Gleiskettenroboters


    Beteiligte:

    Erschienen in:

    Journal of Terramechanics ; 43 , 4 ; 527-551


    Erscheinungsdatum :

    2006


    Format / Umfang :

    25 Seiten, 11 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Mobility of a lightweight tracked robot over deep snow

    Lever,J.H. / Denton,D. / Phetteplace,G.E. et al. | Kraftfahrwesen | 2006


    Mobility of a lightweight tracked robot over deep snow

    Lever, James H. / Denton, Daniel / Phetteplace, Gary E. et al. | Elsevier | 2005


    Lightweight foldable tracked robot chassis

    WANG XINSHENG / GU WENTAO / DING LI et al. | Europäisches Patentamt | 2015

    Freier Zugriff

    Development of high-mobility tracked vehicles for over snow operations

    Wong, J. Y. / International Society for Terrain-Vehicle Systems | British Library Conference Proceedings | 2009