ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P2-V06
会議情報
1P2-V06 軟弱土壌を走行する車輪型移動ロボットのための車輪下部せん断応力分布の二次元的な計測手法
比嘉 翔弥永岡 健司永谷 圭司吉田 和哉
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会議録・要旨集 フリー

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抄録
This paper describes a two-dimensional measurement method for shear stress distribution of a wheel on loose soil. The stress measurement device was improved to enable detect the shear stress distribution of a wheel. Normal stress distribution and circumferential shear stress distribution and lateral shear stress distribution were measured using this device. By combining the two-directional shear stress distribution, the directions of shear stress distribution were estimated. With this, soil flow direction was also estimated. By calculating vertical components of normal stress and shear stress, measurement validity was evaluated. In addition, the classical shear stress model and measured data were compared. As a result, both were accurately estimated, and a significant difference was not found under the low slippage conditions.
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© 2015 一般社団法人 日本機械学会
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