Search for: All records

Abstract Helical drives (sometimes known as Archimedes’ screws) are a class of propulsion mechanism with the potential for application in amphibious, multi-terrain robotic ground vehicles such as Arctic rovers. Despite their simplistic construction, consisting of a screw-like rotating drum with a helically wound blade, their propulsion dynamics are complex and not well understood. There is a need for an experimental testing environment capable of controlling and recording the variables that characterize the dynamics of this terrestrial propulsion mechanism in order to experimentally validate dynamic and energetic modelling. Such variables include displacement, velocity, and acceleration of the mechanism in question in the x, y and z directions, as well as terramechanical properties such as substrate moisture content, subsequent density, and particulate size. This environment would also ideally be designed with modularity in mind in order to easily adapt to multiple different test conditions and terrestrial propulsion mechanisms. This paper describes the design of the experimental testing rig created to serve the above-described purpose. The apparatus is tested with an example of a helical screw drive at three different rover weights. Results of an initial test are shown, and the trends shown in the x position (longitudinal travel), z position (vertical travel), and effective pitch length are discussed.