Development of a reduced-order modeling technique for granular locomotion
Name
1102319503-MIT.pdf
Size
13.22 MB
Format
Adobe PDF
Checksum (MD5)
290ed8f60bf216460b921b2fc9cad204
Author(s)
Agarwal, Shashank(Scientist in mechanical engineering)Massachusetts Institute of Technology.
Advisor(s)
Kenneth Kamrin.
Date Issued
2019
Publisher
Massachusetts Institute of Technology
Abstract
The work is aimed towards the development and expansion of a reduced-order modeling technique called granular Resistive Force Theory(RFT) for modeling wheeled locomotion on granular beds. A combination of various modeling techniques, namely plasticity-based continuum modeling, discrete element method (DEM) modeling, along with RFT and collaborative experimentation are used for evaluation and expanding upon the capabilities of granular RFT. A dimensionless formulation corresponding to the onset of catastrophic rise in slipping of wheels during granular locomotion is proposed. This limit also corresponds to the limits of the existing form of RFT in modeling wheel-granular media interaction accurately. Along with granular locomotion, general problems of granular intrusion have also been studied extensively using continuum modeling to characterize the general force response of different granular media based on various system parameters.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 87-90).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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