In recent years, snake-inspired locomotion has garnered increasing interest in the bio-inspired robotics community. This positive trend is largely due to the unique and highly effective gaits utilized by snakes to traverse various terrains and obstacles. These gaits make use of a snake’s hyper-redundant body structure to adapt to the terrain and maneuver through tight spaces. Snakeinspired robo...

Mobile robots traversing disaster sites, extraterrestrial landscapes, and other outdoor environments will encounter terrain covered with loose stones or rubble. When traversing such granular terrain, it will be important for the robot to have a model of available traction forces that can be used to plan trajectories and control the robot’s gait as it crosses the terrain. Interaction with granul...

one of the most important factors that affect tire friction is surface roughness, which determines the size of the real contact area, real pressure distribution on the contact interface, and scales of mechanical engagement between viscoelastic rubber and a rough substrate. the need to predict coefficient of friction (cof) for rubber on rough surfaces for applications such as traction of tires o...

In this paper, we provide a broad overview of a number of recent automotive applications in a tutorial fashion where several analytical design tools of the sliding mode control theory were primarily used. The design methods utilized are first discussed from a theoretical point of view in three main categories: online functional optimization, disturbance/state estimation and friction compensatio...

OBJECTIVE The objective this work was to assess the friction coefficient between brackets and wires of different materials under conditions simulating the oral environment. MATERIAL AND METHODS Stainless steel (SS) and titanium-molybdenum alloy (TMA) wires of 0.019x0.025-in diameter (American Orthodontics) and polycarbonate bracket (American Orthodontics), ceramic bracket (American Orthodonti...

This paper presents the movement dynamic of the train and the relationship between the speed of wheel and train, as well as a discussion about the concept of wheel slip. There are two different operation regions designated as creep and wheelspin areas for wheel slip. Creep and wheelspin areas have stable and unstable characteristics, respectively. Wheels and rails are constructed from iron, and...

this paper concerns the design and analysis, of a ball type continuously variable transmission, (b-cvt). this b-cvt has a simple kinematic structure, and same as a toroidal cvt, transmits power by friction on the contact points between input and output discs, that are connected to each other by balls. after, a brief introduction of our b-cvt structure, the performance and traction efficiency of...

Abstract Coiled tubing (CT) is prone to buckling and locking due axial friction when extending in large displacement directional wells horizontal wells. The traction robot of CT can provide traction, which fundamentally address the problem difficult downward entry CT. operation principle, size, force, speed other technical indicators existing more cutting-edge types robots are analyzed, critica...