Abstract
There are many robots that work on sandy soil. Most of these robots are based on wheel mechanism equipped with protrusion devices called lug or grouser. These lugs are used for preventing slip or stuck, and improving the traveling performance of the robot. Lug's motion affects lug-soil interaction forces. Therefore, in this paper, we verify the relationship between lug's motion parameters and the traction force generated by the bulldozing lug by experiment. We focus on three motion parameters (inclination angle, moving velocity, sinkage length of lug) in this paper. We obtain approximate curves that describe how traction force changes during the bulldozing.
