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Wheel-soil interaction model for all-terrain vehicles
CCCA12, 2012In this paper, a wheel-soil interaction model is detailed for estimating the forces within the contact surface. This model should take into account the mechanical behavior of both the wheel and the soil, considered in our work, as deformable bodies. The main objective is to ensure an accurate estimation of the contact forces for a better diagnosis of ...
Faris Djohor +2 more
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Wheel-soil interaction model for rover simulation based on plasticity theory
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011A novel approach is proposed for the modeling of rigid-wheel and soft-soil interaction using infinitesimal plasticity theory. Our motivation is the need to have a model compatible with dynamic models of multibody systems. The idea is to use a prescribed velocity field in the vicinity of the contact area based on the physics of the problem, and find the
Ali Azimi +2 more
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Corrugation of Unmetalled Roads Part 2: Wheel-Soil Interaction
Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 1989The paper relates the dynamics study of Part 1 to the creation of corrugations. Experiments on soil movement using photography and tracer particles are reported. The local variation of soil strength and particle size within the corrugation profile have also been measured, and the liability of different road materials to corrugation has been related to
Misoi, G K, Gichaga, F J, Carson, R M
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Mechanical Analysis and Experiment of Wheel-Soil Interaction of Lunar Rover
Advanced Materials Research, 2011The mechanics behavior between soil and wheel has important influence on the traction performance of the lunar rover. For analyzing the interaction between soil and wheel, the mechanical model is established and the experiment devices adopting gas bearing and tracking mechanism are set up in this paper. The relation of wheel structure, soil parameters,
Jian Jun Du +3 more
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The Relationship between Cone Penetration Resistance and Wheel-Soil Interactions in Lunar Gravity
2021 IEEE Aerospace Conference (50100), 2021One of the major challenges faced by planetary exploration rovers today is the negotiation of difficult terrain, such as fine granular regolith commonly found on the Moon and Mars. Typical Earth-based testing methods cannot accurately predict rover mobility in reduced gravity environments (i.e.
Adriana Daca +2 more
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Analysis of Wheel-Soil Interaction under Combined Slip Condition
SAE Technical Paper Series, 2008<div class="htmlview paragraph">The understanding of wheel-soil interaction under longitudinal and lateral slip conditions is very important for off-road vehicle dynamics. However, understanding the physics of wheel-soil interaction is not easy, especially with uncertain operational environment and with the limitation of current measuring ...
L. Li, C. Sandu
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A Nonlinear Volumetric Contact Model for Planetary Rover Wheel/Soil Interaction
Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, 2013A novel nonlinear planetary rover wheel/soil interaction model based on the properties of the penetration volume is proposed. This approach allows for fast multibody dynamic simulation of planetary rover operations by providing a closed-form solution for the contact forces.
Willem Petersen, John McPhee
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On the study of wheel-soil interaction
Journal of Terramechanics, 1984Abstract This paper presents a review of recent advancements in the study of wheel-soil interaction, based primarily on the papers submitted to the Eighth International Conference of ISTVS. Various methods of approach to the analysis of wheel-soil interaction are examined and their applications are discussed.
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Rate-dependent wheel-soil interaction
Wear, 1976Abstract The drag force developed at the wheel-soil interface when a tyred wheel rolls over soil varies with velocity in a manner which has not been satisfactorily explained despite considerable previous research. In this paper wheel-soil interaction is modelled by an infinite rigid cylinder moving over a viscoelastic material. Using a simple rolling
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Fast computation of wheel-soil interactions for safe and efficient operation of mobile robots
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011Hazardous terrains pose a crucial challenge to the operation of mobile robots, especially for military applications such as surveillance, casualty extraction, etc. To enable their safe and efficient operations, it is necessary to detect the terrain type and to modify operation and control strategies in real-time.
Zhenzhong Jia, William Smith, Huei Peng
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