Geometrical Aspects of Snow Sinkage for Robotic Application
摘要
Snow is a captivating substance that intrigues humans from various perspectives. In the years, there have been numerous research studies and experiments conducted to examine the behaviour of snow. The objective of this study is to examine how the size and shape of blocks impact their sinking performance. We employed COMSOL Multiphysics to analyze the sinkage behaviour of blocks with different sizes and geometries, resembling different robot feet, in snow. The analysis considered snow as an elastic material, characterized by the Drucker–Prager material model, which is known for its ability to capture the complex yielding behaviour of snow under different loading conditions. This thorough analysis revealed crucial insights into the factors that influence sinkage. It was found that the contact area between an object and snow is inversely proportional to the amount of sinkage it experiences in the snow. In other words, the greater the area, the smaller the sinkage. Additionally, among the various geometries chosen for the study, the honeycomb structure was found to have the smallest sinkage while having the same area of cross-section and force. The findings in this paper can guide for optimizing the design of snowshoes, which can minimize sinkage for legged robots. Apart from that, it can also be used to design travel and sports equipment for use on snow.