Exploration of granular physics for three-dimensional geometries interacting with deformable media is crucial for further understanding of granular mechanics and vehicle-terrain dynamics. A modular screw propelled vehicle is, therefore, designed for testing the accuracy of a novel helical granular scaling law in predicting vehicle translational velocity and power. A dimensional analysis is performed on the vehicle and screw pontoons. Two additional pontoon pairs of increased size and mass are determined from dimensional scalars. The power and velocity of these larger pairs are predicted by the smaller pair using the scaling relationships. All three sets are subjected to ten trials of five angular velocities ranging from 13.7 to 75.0 revolutions per minute in a high interlock lunar regolith analog derived from mining tailings. Experimental agreement for prediction of power (3–9% error) and translational velocity (2–12% error) are observed. A similar set of geometries is subjected to multibody dynamics and discrete element method cosimulations of Earth and lunar gravity to verify a gravity-dependent subset of the scaling laws. These simulations show agreement (under 5% error for all sets) and support law validity for gravity between Earth and lunar magnitude. These results support further expansion of granular scaling models to enable prediction for vehicle-terrain dynamics for a variety of environments and geometries.

中文翻译：

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螺旋传动动力学的粒度定律

探索与可变形介质相互作用的三维几何体的粒子物理，对于进一步理解粒子力学和车辆地形动力学至关重要。因此，设计了一种模块化螺旋推进式车辆，以测试新型螺旋粒度定律在预测车辆平移速度和功率方面的准确性。在车辆和螺旋浮筒上进行尺寸分析。从尺寸标量确定增加尺寸和质量的两个附加浮桥对。这些较小的对使用比例关系来预测这些较大的对的功率和速度。所有这三套装置均采用源自矿山尾矿的高互锁月球重积石类似物，进行了五次角速度的十次试验，其角速度范围为每分钟13.7至75.0转。观察到了预测功率（3-9％误差）和平移速度（2-12％误差）的实验一致性。对一组相似的几何体进行多体动力学和地球与月球重力的离散元方法协同仿真，以验证比例定律的重力相关子集。这些模拟显示出一致性（所有集合的误差均在5％以下），并支持地球和月球强度之间的引力定律有效性。这些结果支持对粒度缩放模型的进一步扩展，从而能够预测各种环境和几何形状的车辆地形动力学。对一组相似的几何体进行多体动力学和地球与月球重力的离散元方法协同仿真，以验证比例定律的重力相关子集。这些模拟显示出一致性（所有集合的误差均在5％以下），并支持地球和月球强度之间的引力定律有效性。这些结果支持对粒度缩放模型的进一步扩展，从而能够预测各种环境和几何形状的车辆地形动力学。对一组相似的几何体进行多体动力学和地球与月球重力的离散元方法协同仿真，以验证比例定律的重力相关子集。这些模拟表明一致性（所有集合的误差均在5％以下），并支持地球和月球强度之间的重力法则有效性。这些结果支持对粒度缩放模型的进一步扩展，从而能够预测各种环境和几何形状的车辆地形动力学。