{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,11,19]],"date-time":"2024-11-19T18:39:07Z","timestamp":1732041547552},"reference-count":30,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2022,5,30]],"date-time":"2022-05-30T00:00:00Z","timestamp":1653868800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Field Robotics"],"published-print":{"date-parts":[[2022,9]]},"abstract":"Abstract<\/jats:title>The screw drive mechanism has excellent driving performance on soft terrain and it is a good application for granary robot traveling on the loose grain surface. The investigation on screw drive wheel\u2010terrain contact mechanics is necessary to predict the traveling performance of the novel Screw\u2010Drive Granary Robot. Because the motion of grain particles is extremely complex beneath the wheel in the space, shearing displacement is decomposed into the longitudinal and tangential shearing displacement in this paper, and the corresponding shearing stress is calculated separately. Then the screw\u2010drive wheel\u2010terrain contact mechanics theory based on terramechanics is established by integrating the normal stress and shearing stress. Through driving experiments on corn\u2010terrain, the slip sinkage is determined and the sinkage modeling is modified simultaneously considering both vertical load and slip to improve the accuracy of prediction. And the calculated total resistance and the bulldozing resistance show that there is a linear proportional coefficient between them and slope of the line is 2.74 in this case. Finally, the improved mathematical model for screw\u2010drive wheel is proposed, the average error of predicted resistive torque is 15.72% and the mean error of drawbar pull is 16.2%.<\/jats:p>","DOI":"10.1002\/rob.22081","type":"journal-article","created":{"date-parts":[[2022,5,31]],"date-time":"2022-05-31T05:57:19Z","timestamp":1653976639000},"page":"827-839","update-policy":"http:\/\/dx.doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Interaction mechanics model for screw\u2010drive wheel of granary robot traveling on the loose grain terrain"],"prefix":"10.1002","volume":"39","author":[{"given":"Hangjia","family":"Jin","sequence":"first","affiliation":[{"name":"College of Biological and Agricultural Engineering Jilin University Changchun China"}]},{"given":"Jizhao","family":"Lin","sequence":"additional","affiliation":[{"name":"College of Biological and Agricultural Engineering Jilin University Changchun China"}]},{"given":"Wenfu","family":"Wu","sequence":"additional","affiliation":[{"name":"College of Biological and Agricultural Engineering Jilin University Changchun China"},{"name":"Jilin Business and Technology College Changchun China"}]},{"given":"Yanhui","family":"Lu","sequence":"additional","affiliation":[{"name":"College of Automotive Engineering Jilin University Changchun China"}]},{"given":"Feng","family":"Han","sequence":"additional","affiliation":[{"name":"College of Biological and Agricultural Engineering Jilin University Changchun China"}]},{"given":"Xinjian","family":"Shi","sequence":"additional","affiliation":[{"name":"College of Engineering and Technology Jilin Agricultural University Changchun China"}]}],"member":"311","published-online":{"date-parts":[[2022,5,30]]},"reference":[{"key":"e_1_2_11_2_1","volume-title":"Introduction to terrain\u2010vehicle systems","author":"Bekker G.","year":"1969"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.1243\/pime_proc_1961_175_060_02"},{"key":"e_1_2_11_4_1","unstructured":"Ding L.(2009). Wheel\u2010soil interaction terramechanics for lunar\/planetary exploration rovers: Modeling and application. Ph.D. thesis Harbin Institute of Technology Harbin (in Chinese)."},{"key":"e_1_2_11_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21533"},{"key":"e_1_2_11_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/0022-4898(67)90123-1"},{"key":"e_1_2_11_7_1","unstructured":"Freeberg J.T.(2010). A study of omnidirectional quad\u2010screw\u2010drive configurations for all\u2010terrain locomotion. Ph.D. thesis University of South Florida Tampa FL."},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104032"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.3969\/j.issn.1673-3142.2014.04.004"},{"key":"e_1_2_11_10_1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.20187"},{"key":"e_1_2_11_11_1","unstructured":"Janosi Z.(1961) The analytical determination of drawbar pull as a function of slip for tracked vehicles in deformable soils. Paper presented at: International Society for Terrain\u2010Vehicle Systems.The 1st International Conference."},{"key":"e_1_2_11_12_1","doi-asserted-by":"publisher","DOI":"10.13427\/j.cnki.njyi.2015.12.019"},{"key":"e_1_2_11_13_1","doi-asserted-by":"publisher","DOI":"10.11975\/j.issn.1002-6819.2021.2.003"},{"key":"e_1_2_11_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.829462"},{"key":"e_1_2_11_15_1","doi-asserted-by":"publisher","DOI":"10.1016\/0022-4898(65)90130-8"},{"key":"e_1_2_11_16_1","doi-asserted-by":"publisher","DOI":"10.6041\/j.issn.1000-1298.2015.05.044"},{"key":"e_1_2_11_17_1","doi-asserted-by":"publisher","DOI":"10.16433\/j.1673-2383.2020.03.01"},{"key":"e_1_2_11_18_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2018.09.017"},{"key":"e_1_2_11_19_1","doi-asserted-by":"crossref","unstructured":"Nagaoka K. Otsuki M. Kubota T.&Tanaka S.(2010) Terramechanics\u2010based propulsive characteristics of mobile robot driven by Archimedean screw mechanism on soft soil. Paper presented at: IEEE\/RSJ International Conference on Intelligent Robots & Systems.","DOI":"10.1109\/IROS.2010.5651010"},{"key":"e_1_2_11_20_1","doi-asserted-by":"publisher","DOI":"10.1016\/0022-4898(65)90133-3"},{"key":"e_1_2_11_21_1","doi-asserted-by":"publisher","DOI":"10.1016\/0022-4898(65)90133-3"},{"key":"e_1_2_11_22_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2018971"},{"key":"e_1_2_11_23_1","first-page":"5","article-title":"Biomimetics of machinery for soft terrain","volume":"31","author":"Ren L.","year":"2000","journal-title":"Transactions of the CSAE"},{"key":"e_1_2_11_24_1","doi-asserted-by":"publisher","DOI":"10.11975\/j.issn.1002-6819.2018.10.033"},{"key":"e_1_2_11_25_1","doi-asserted-by":"crossref","unstructured":"Wong J.&Reece A.(1966). Soil failure beneath rigid wheels.Proceedings of the Second International Conference on the International Society for Terrain\u2010Vehicle Systems.","DOI":"10.3138\/9781487584757-036"},{"key":"e_1_2_11_26_1","volume-title":"Theory of ground vehicles","author":"Wong J.Y.","year":"2008"},{"key":"e_1_2_11_27_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.biosystemseng.2021.08.028"},{"key":"e_1_2_11_28_1","first-page":"146","article-title":"Current application and outlook prospect of AI technology in the field of post\u2010harvested cereal","volume":"034","author":"Wu Z.","year":"2019","journal-title":"Journal of the Chinese Cereals and Oils Association"},{"key":"e_1_2_11_29_1","doi-asserted-by":"crossref","unstructured":"Zhang W. Liu J.&Wang J.(2020). A multi\u2010sensor fusion method based on EKF on granary robot.IEEE 32nd Chinese Control And Decision Conference August 22\u201324 Hefei.","DOI":"10.1109\/CCDC49329.2020.9164141"},{"key":"e_1_2_11_30_1","doi-asserted-by":"crossref","unstructured":"Zheng T. Meng C. Zou P.&Wang J.(2019) Improvement of Gmapping algorithm based on non\u2010continuous system.IEEE 31st Chinese Control And Decision Conference June 03\u201305 2019 Nanchang.","DOI":"10.1109\/CCDC.2019.8833316"},{"key":"e_1_2_11_31_1","unstructured":"Zou M.(2008) Study on traction ability for driving wheel of the lunar rover. 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