Quantitative Analysis of the Relationship between lug-soil interaction force and sand swell volume of a rigid lug bulldozing on dry sand

Abstract

The wheel type robot is used much at sandy soil. Wheel mechanism equipped with protrusions called lug is effective to these robots to prevent slip or stuck. In previous research, the relationship between lug's motion and lug-soil interaction force has been verified. At that time,it was found sand swell is involved in lug-soil interaction force. However, the specific relationship is not clear. Therefore, in this paper, we verify the relationship between lug's motion and sand swell volume by experiment.