A Study on Wheel Sinkage and Rolling Resistance with variations in wheel geometry for Plain and Lugged wheels on TRI -1 Soil Simulant

Kumar, Pala Gireesh; Jayalekshmi, S.

doi:10.1088/1757-899x/330/1/012127

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2020

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“…The Bekker's theory has been extended to small wheels to fit the empirical data. 31,32 These models analytically formulate simple wheels. The wheels with complex geometry can be numerically simulated by the soil contact method (SCM) 19 and bounding volume method 19,33 which properly investigate the effect of grousers and surface shape of the wheel.…”

Section: Introductionmentioning

confidence: 99%

A New Sensor for Robotic Mars Rovers in Sandy Terrains Predicting Critical Soil Flow Using the Spiral Soil Flow Model

2020

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SUMMARY The current contribution presents a new sinkage sensor specified for an unmanned ground vehicle to find the exact sinkage zone of a wheel interacting with the soil particles. This sensor will be wrapped around the wheel, and consequently, contact analog outputs will be used in soil deposition and bulldozing effect prediction. Furthermore, the new sensor will be used for a novel soil flow calculation estimating the total mass variation of the control volume of soil particles beneath the wheel. Accordingly, the spiral model simulating the displacement of the particle is implemented to calculate the soil deposition.

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