Electronic Resource
Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories
| العنوان: | Granular Resistive Force Theory Implementation for Three-Dimensional Trajectories |
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| المؤلفون: | Treers, LK, Treers, LK, Cao, C, Stuart, HS |
| المصدر: | IEEE Robotics and Automation Letters; vol 6, iss 2, 1887-1894; 2377-3766 |
| بيانات النشر: | eScholarship, University of California 2021-04-01 |
| نوع الوثيقة: | Electronic Resource |
| مستخلص: | Modelling interaction forces as bodies intrude into granular media is a longstanding challenge in the design and control of machines that navigate and manipulate these highly complex materials. Granular Resistive Force Theory, or RFT, is a flexible, reduced-order model for predicting intrusion forces on bodies in granular media. 2D RFT describes the forces on a plate whose velocity and normal vectors lie in the same vertical plane. We introduce a 3D RFT method that projects the total velocity vector into two scenarios that can already be described by 2D RFT, which allows us to extend the model into 3D with minimal additional experimental characterization. We then superimpose these independently calculated forces, weighted by experimentally fit scaling factors, to determine the total force on the plate. When applied to discretized convex hulls, this method performs force estimates of arbitrary trajectories in 3D space. The proposed formulation predicts forces experienced by oscillating and circumnutating bodies, motions motivated by mole crab burrowing and plant root growth respectively. This method is well-suited to complement more complex computational tools, such as Discrete Element Method. By expanding the application of RFT to 3D scenarios, a broader set of real-world applications can now be analyzed. |
| مصطلحات الفهرس: | Contact modeling, dynamics, methods and tools for robot system design, Mechanical Engineering, article |
| URL: | |
| الاتاحة: | Open access content. Open access content CC-BY |
| ملاحظة: | application/pdf IEEE Robotics and Automation Letters vol 6, iss 2, 1887-1894 2377-3766 |
| Other Numbers: | CDLER oai:escholarship.org:ark:/13030/qt3w80r8mg qt3w80r8mg https://escholarship.org/uc/item/3w80r8mg https://escholarship.org/ 1371270040 |
| المصدر المساهم: | UC MASS DIGITIZATION From OAIster®, provided by the OCLC Cooperative. |
| رقم الانضمام: | edsoai.on1371270040 |
| قاعدة البيانات: | OAIster |
| الوصف غير متاح. |