Effect of Rotational Cone on Penetration Resistance and Its Implication to the Design of a Bio-Inspired Self-Burrowing Robots
Effect of Rotational Cone on Penetration Resistance and Its Implication to the Design of a Bio-Inspired Self-Burrowing Robots
复制标题
旋转锥体对穿透阻力的影响及其对仿生自穴居机器人设计的启示
DOI：
10.1061/9780784484036.022
复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
Tao, Junliang
中科院分区：
文献类型：
--
作者：
Tang, Yong;Tao, Junliang
作者以前的研究表明，穿透杆的旋转运动可以降低穿透阻力。在这项研究中，深入研究了旋转对渗透的影响，以阐明种子启发的自挖掘机器人的设计。采用离散元法对三种侵彻策略进行了建模：（1）控制情况，（2）全身旋转（WBR）情况，和（3）圆锥旋转（CR）情况。结果表明，在相同的转速下，由于WBR和CR，锥入阻力可以降低到相似的水平。对颗粒-侵彻体接触数据的进一步分析揭示了锥体的旋转减少了接触次数和接触力的大小。在WBR的情况下也观察到轴摩擦的轻微减少，但以更高的能量消耗为代价来引起轴的旋转。比较三种穿透策略，CR策略被认为是最适合的自挖隧道机器人，因为它减少了穿透阻力与最低的能量消耗。
A previous study by the authors showed that the rotational movement of a penetrating rod could reduce the penetration resistance. In this study, the effect of rotation on penetration is further studied to shed light on the design of a seed-inspired self-burrowing robot. Three penetration strategies were modeled using the discrete element method: (1) control case, (2) whole-body-rotation (WBR) case, and (3) cone-rotation (CR) case. It was observed that the cone penetration resistance could be reduced to similar levels due to WBR and CR at the same rotational speed. Further analysis of particle–penetrator contact data unveils that rotation of the cone reduces the contact number, and the magnitude of the contact forces. A slight reduction of the shaft friction is also observed in WBR cases, yet with a cost of much higher energy consumption to induce the rotation of the shaft. Comparing the three penetration strategies, the CR strategy is considered the most suitable for a self-burrowing robot as it reduces penetration resistance with the lowest energy consumption.
影响因子：
7.4
作者：
Sichuan Huang;Yong Tang;H. Bagheri;D. Li;Alexandria Ardente;Daniel M. Aukes;H. Marvi;J. Tao
通讯作者：
Sichuan Huang;Yong Tang;H. Bagheri;D. Li;Alexandria Ardente;Daniel M. Aukes;H. Marvi;J. Tao
影响因子：
5.5
作者：
STAMP, NE
通讯作者：
STAMP, NE
影响因子：
4.6
作者：
Jung, Wonjong;Choi, Sung Mok;Kim, Ho-Young
通讯作者：
Kim, Ho-Young