Highlights Research is spearhead for slippage of robot wheels traversing on an uneven terrain. The wheels experienced low, moderate, and high slippage. The slippage is more susceptible to positive effect of solid ball diameter. Effect of tire inflation pressure was prevailed than that of forward speed. Research findings are rich source for relevant industrial researchers and experts.

    Abstract This research is spearhead for longitudinal slippage of robot platform wheels traversing on solid balls based uneven terrain. For this purpose, effects of solid ball diameter (0.0127–0.0508 m) accompanying with tire inflation pressure (20.68–55.16 kPa) and platform forward speed (0.17–0.50 m/s) on the slippage were practically quantified. Robotic experiments were executed in controlled test bed prepared by solid ceramic balls. Tentative data collected from the experiments indicate that the wheels experienced low (<30%), moderate (30–60%) and high slippage (>60%) under effects of independent variables. Results demonstrated that the increasing effect of the dominant variable of solid ball diameter on the slippage was 3.6 and 2.6 times greater than that of platform forward speed and tire inflation pressure, respectively. Meanwhile, the increasing linear effect of tire inflation pressure on the slippage was prevailed (1.4 times) than the decreasing linear effect of platform forward speed. Hence, to minimize the slippage as well as power loss of the platform traversing on each solid ball diameter, adjustment of tire inflation pressure should be enumerated as first priority. Overall, analytical results obtained in this research lead to open a new prospection for comprehending the slippage trends of off-road wheeled robots traversing on an uneven terrain composed of solid balls. Practicability of this type of the robots is remark in various industrial robotic operations, especially for process towers and reactors of oil, gas, petrochemical, and chemical industries. Hence, quantitative and qualitative information of this research are a rich source for relevant industrial investigators and experts who involved in this realm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A practical quantification of longitudinal slippage of robot platform wheels traversing on solid balls based uneven terrain


    Contributors:

    Published in:

    Publication date :

    2021-11-09


    Size :

    12 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





    Power Requirements for Traversing Uneven Roadways

    KARNOPP, DEANProfessor of Mechanical Engineering | Taylor & Francis Verlag | 1978


    METHOD OF TRAVERSING DIFFICULT TERRAIN

    MEEKER DAVID C / MASON TIMOTHY J / KIROUAC ANDREW et al. | European Patent Office | 2023

    Free access

    METHOD OF TRAVERSING DIFFICULT TERRAIN

    MEEKER DAVID C / MASON TIMOTHY J / KIROUAC ANDREW et al. | European Patent Office | 2020

    Free access

    METHOD OF TRAVERSING DIFFICULT TERRAIN

    MEEKER DAVID C / MASON TIMOTHY J / KIROUAC ANDREW et al. | European Patent Office | 2020

    Free access