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Tire and sand?

  1. Apr 16, 2010 #1

    I'm working on a robot simulator and am trying to make a simplified model of kicking sand up in the air.

    Right now the current information I have is:

    *Wheel radius,width, mass etc.
    *Contact location on the ground in the wheel and global coordinate frame
    *Wheel angular velocity vector describing the wheel's rotation about the global xyz axes.

    The world coordinate system is a right-handed one. It seems like if I have a positive x rotation in the global coordinate frame I want a positive y velocity on the sand as a result and some z velocity. The scale of this should be related to the tire contact point velocity.

    That is a brief example but I need it to work in full 3 dimensions. Is the direction of the sand vector the same as the angular velocities about the global axes rotated using the robot's orientation? I will have to add some randomness in so that the dust spreads out, but it seems like it shouldn't be too difficult to make this behave somewhat correct.

    Or am I thinking about this all wrong?

  2. jcsd
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