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降坡性能之研究

Abstract

在此研究中、我們設計一搭載二輪轉向機構的機械車。此機械車能 在由大量乒乓球組成的密集粉粒體介質中自由移動。文獻裡、實驗觀 察到在二維密集粉粒體介質中一快速移動的物體前方會形成力學滯塞 (jamming) 的區域。和無搭載此轉向機構的車輛相比、此轉向機構能夠 接觸並局部破壞此力學滯塞的區域、讓機械車能夠更快速地在粉粒體 介質中運動以及控制其行進方向。我們並介紹在三維的實驗環境中、 車輛在重力輔助下運動的初步研究成果。

In this study, we design a vehicle equipped with a dual-wheel steering system and able to freely move in a dense granular medium of ping-pong balls. Experimentally, it has been shown that there exists a jammed area in front of a fast-moving object in 2D dense granular media. Able to engage and break this jammed area locally, the steering system allows the vehicle to move faster than without it and change the vehicle’s direction at will. We also present preliminary results of the vehicle moving with the assistance of gravity in a 3D environment.