| Popis: |
Dynamic similarity, while commonly applied in fluid systems, has recently been extended to locomotion problems in flat beds of cohesionless grains by assuming a frictional continuum model. Here, expanded scaling relations are derived for beds that are sloped or composed of cohesive grains. The proposed scalings are validated by discrete element method simulations using rotating ``wheels'' of various shape families, which suggests the usage of these scalings as potential design tools for off-road vehicles and extraplanetary rovers, and as an analysis tool for biolocomotion in sands and soils. |
