搭載二輪轉向機構之車輛於準二維密集球體介質中行進及爬坡性能之研究

Vehicle moving against gravity with a dual-wheel steering system in shallow dense granular media

蔡孟錡(Meng-Chi Tsai)

指導教授 ： 高國傑

共同指導教授 ： 楊馥菱(Fu-Ling Yang)

國立臺灣大學/工學院/機械工程學研究所/碩士(2016年)

https://doi.org/10.6342/NTU201600886

摘要

文獻裡、實驗已經證明在二維非熱的粉粒體介質中一快速移動物體的前方存在一力學滯塞 (jamming) 的區域。利用此一發現、我們設計一搭載二輪轉向機構、能在由大量乒乓球組成的準二維密集粉粒體介質中自由移動的車輛。此轉向機構能夠局部破壞車輛前方力學滯塞的區域、讓車輛能夠更容易地在粉粒體介質中運動及控制其行進方向。此外、我們並介紹在三維的實驗環境中、車輛在重力阻礙下運動的初步研究成果。

關鍵字

顆粒介質 ； 力學滯塞 ； 重力效應 ； 車輛 ； 轉向機構系統

並列摘要

Experimentally, it has been shown that there is a jammed area in front of a fast-moving object in 2D athermal granular media. Utilizing this fact, we design a vehicle, equipped with a dual-wheel steering system, moving in a dense quasi-2D granular medium of ping-pong balls. The steering system is able to disturb the jammed area and allows the vehicle to move easier and alter its moving direction freely. We also present preliminary results of the vehicle moving against gravity in a 3D environment.

並列關鍵字

granular media ； jamming ； gravity effect ； vehicle ； steering system

參考文獻

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