2026-09-19T02:44:16Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1218542022-11-22T14:01:06Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Kenneth Kamrin.
Agarwal, Shashank(Scientist in mechanical engineering)Massachusetts Institute of Technology.
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2019-07-19T19:46:48Z
2019-07-19T19:46:48Z
2019
2019
https://hdl.handle.net/1721.1/121854
1102319503
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 87-90).
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.
by Shashank Agarwal.
S.M.
S.M. Massachusetts Institute of Technology, Department of Mechanical Engineering
90 pages
eng
Massachusetts Institute of Technology
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Development of a reduced-order modeling technique for granular locomotion
Thesis
application/pdf
2019-07-19T19:46:37Z
Publication
Master
MechE
unknown
unknown
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<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.</Abstract>
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