An Analytical Model for Predicting Ground Pressure under a Rigid-Flexible Tracked Vehicle on Soft Ground

Liu, Weiwei; Cheng, Kai

doi:10.1155/2020/6734121

Cited by 6 publications

(9 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For this reason, there will be no damage to the bee frames [25]. In the experiment with a full load of bee frames and a full load of beehives, the passability was the worst on dry sand [20]. The vehicle could not pass the 8 • upslope when fully load with beehives.…”

Section: Discussionmentioning

confidence: 98%

See 1 more Smart Citation

Dynamics Simulation and Field Test Verification of Multi-Functional Beekeeping Loading Box Based on the Tracked Vehicle

Wang

Kim

et al. 2022

Applied Sciences

View full text Add to dashboard Cite

The Korean beekeeping industry is continuously declining owing to the aging worker population and a lack of automation. To solve the problem of manual transportation and low automation of transportation tools in Korean apiculture, a multifunctional beekeeping transport loading box was developed by modifying a tracked vehicle developed in previous studies. To ensure the safety of the modified beekeeping vehicle in an apiary, a dynamic analysis of the vehicle in virtual simulation conditions and a field test inside an actual apiary were conducted. Firstly, the TRACK_LM module in multibody dynamics software RecurDyn was used to model the vehicle. Then, the model was analyzed in two use cases (bee frame loading and beehive loading), three geological conditions (clayey soil, dry sand, and upland sandy loam), and two types of terrain (s-turn and 8° slope). Meanwhile, tests under similar conditions were conducted in an actual apiary. The simulation results indicated that the modified beekeeping vehicle operated stably in the simulated agricultural apiary ground (clayey soil and upland sandy loam). The maximum pitch angles in the clayey soil and upland sandy loam conditions were 11.77° and 12.74°, respectively. However, the vehicle cannot operate under dry sand conditions on a slope because it exceeded the calculated maximum angle (34°) during operation. The maximum pitch angle of only 8.8° in the apiary transport experiment proved that the modified beekeeping vehicle could be driven safely in actual apiaries. Moreover, a comparison of the field test results with the simulation results revealed that the field test further verifies the reference value and correctness of the simulation results.

show abstract

Section: Discussionmentioning

confidence: 98%

“…Figure 6 shows the two surface models in RecurDyn. The algorithm for determining the contact relationship between the tracked vehicle and soft ground in RecurDyn uses the sink-pressure formula proposed by Bekker [20].…”

Section: Dynamics Analysis Of Multifunctional Tracked Vehiclementioning

confidence: 99%

Dynamics Simulation and Field Test Verification of Multi-Functional Beekeeping Loading Box Based on the Tracked Vehicle

Wang

Kim

et al. 2022

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…Then the results were set as the input variables for the ground pressure model in literature. 21 Thus, the distribution of ground pressure on steering-driving condition was obtained. The travel speed was set at 20 km/h and the steering radius was set at 45 m with the ITT taking a value of 10% vehicle weight, and the selected soil parameters were presented in Table 1.…”

Section: Itt-ground Pressure Models On Multiple Operating Conditionsmentioning

confidence: 99%

“…For the any element i of track on soft ground, the ground pressure p ( x i ) and shear stress τ ( x i ) can be calculated using the ground pressure model. 21 Next, the sinkage z ( x i ) can be obtained according to equation (7). Based on the assumption that the adjacent elements i , i +1, i +2 of track contacted with soil was in a circle, the bending radius of track can be simulated, and the bending radius contacted with the roadwheels was still equal to the radius of roadwheels.…”

Section: Itt-fatigue Life Models On Multiple Operating Conditionsmentioning

confidence: 99%

Optimal study of the Initial Track Tension for the track vehicle under soft ground based on multiple operating conditions

Liu

Cheng

Liu

2023

Advances in Mechanical Engineering

Self Cite

View full text Add to dashboard Cite

The determination of Initial Track Tension (ITT) is an important issue for the moving performance of tracked vehicle under soft ground. At the present time, however, the selection of ITT only according to a moving performance or an operating condition under hard ground. Focus on this, a novel approach for determination of ITT without changing the basic vehicle parameters is proposed in this paper, which can improve the moving performance under soft ground comprehensively. Analytical models for predicting ground pressure under tracked vehicle on soft ground including ITT were used based on the track-soil coupling relationship, movement characteristics and turning characteristics of an articulated track vehicle, which applied to the straight driving condition, steering-driving condition and climbing condition. The intrinsic mechanisms between the ITT and the Mean Maximum Pressure (MMP) under roadwheels were revealed. The stresses produced by the action of track and sprocket, roadwheels, idle wheel, soil respectively were studied in consideration of the vehicle-soil mechanics theory and strength theory. The stress state and changes for an element of the track were investigated. What’s more, the relationship between the ITT and fatigue life of the track was explained in detail based on the Miner’s rule. On this basis, an optimal study for the ITT was performed taking advantage of NSGAII, which used the MMP under roadwheels and fatigue life of track as optimization objectives. And then, the determination principles of the ITT were presented, and it was identified by an articulated track vehicle. The results are significant to the prediction and control of the moving performance of track vehicle under soft ground.

show abstract

“…This idea follows up the dynamic analysis of skid-steering tracked vehicles carried out by Steeds in [2], Bekker in [3], [4] Wong in [5], [6] then extended to soft terrains by Al-Milli in [7]. Enriched by non-uniform Normal Pressure Distribution Function inspired by the work of Wills in [8], Keller [9] and by Liu's [10]. The robotic prototype built was then used to perform experi-…”

Section: Introductionmentioning

confidence: 99%

Design Concept and Modelling of a Tracked UGV for Orchard Precision Agriculture

Tazzari

Mengoli

Marconi

2020

2020 IEEE International Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)

View full text Add to dashboard Cite

We present a ground robotic platform suited to agriculture applications. The design is specifically targeted for small/medium farms and it is characterized by marked features in terms of flexibility, reconfigurability and robustness. We present the tracked vehicle design concept as well as the mechanical model by emphasizing some aspects that make the platform particularly suited to operate in "all-terrains". We also present experimental results to validate the model.

show abstract

An Analytical Model for Predicting Ground Pressure under a Rigid-Flexible Tracked Vehicle on Soft Ground

Cited by 6 publications

References 12 publications

Dynamics Simulation and Field Test Verification of Multi-Functional Beekeeping Loading Box Based on the Tracked Vehicle

Dynamics Simulation and Field Test Verification of Multi-Functional Beekeeping Loading Box Based on the Tracked Vehicle

Optimal study of the Initial Track Tension for the track vehicle under soft ground based on multiple operating conditions

Design Concept and Modelling of a Tracked UGV for Orchard Precision Agriculture

Contact Info

Product

Resources

About