Optimization of Granular Locomotion Using Geometric Intruders

Overview

Survey robots are vital to exploring extreme environments; however, limitations arise from the unpredictable nature of granular media. Currently, there is no model to characterize granular media interactions, making it difficult to explore. T o address this issue, geometric intruders, similar to cleats, intruded and dragged through a fluidized testing bed filled with poppy seeds to see if at least one variable had a significant impact on granular force interactions. The variables intrusion distances of 1-3 centimeters (cm), intruder geometries of single-body and multi-body with spacings of 1-5 centimeters (cm), time delays between intrusion and drag movements of 100, 250, 2000 milliseconds (ms), and fluidized intrusion, and intruder materials of acrylonitrile butadiene styrene (ABS) and aluminum were tested. All variable permutations had three trials, and the maximum intrusion and drag forces were recorded in Newtons (N). Results showed that the 1 cm intrusion, single-body intruder, fluidized intrusion, and ABS intruder were more effective than their counterparts in reducing intrusion and drag forces. Also, fluidized intrusion reduced the drag force by 23.1% and ABS intruders reduced the intrusion force by 36.3% and the drag force by 21.1%, supporting the hypothesis and making it the most impactful in optimizing granular locomotion. It was also noticed that depending on the intruder material, intruder spacings of 4 cm and greater acted independently of one another when intruded at different distances, suggesting a new trend. Further investigation would be required to verify this with different materials.

Competition history

• JSHS 2023 Category not listed

Resources

• National JSHS abstract book ↗

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