Predicting Soil-Rigid Wheel Performance Using Distinct Element Methods

Asaf, Z.; Shmulevich, I.; Rubinstein, D.

doi:10.13031/2013.20477

Cited by 38 publications

(17 citation statements)

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“…The capability of precise and detailed applications of large-scale DEM for interaction analysis was also investigated (11) . There were many reports on performance prediction of a lugged rigid wheel by the originally developed DEM program (12) - (14) or by the commercially available code, PFC2D (15) .…”

Section: Introductionmentioning

confidence: 99%

Analysis of Tire Tractive Performance on Deformable Terrain by Finite Element-Discrete Element Method

Nakashima

Takatsu

2008

JCST

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The goal of this study is to develop a practical and fast simulation tool for soil-tire interaction analysis, where finite element method (FEM) and discrete element method (DEM) are coupled together, and which can be realized on a desktop PC. We have extended our formerly proposed dynamic FE-DE method (FE-DEM) to include practical soil-tire system interaction, where not only the vertical sinkage of a tire, but also the travel of a driven tire was considered. Numerical simulation by FE-DEM is stable, and the relationships between variables, such as load-sinkage and sinkage-travel distance, and the gross tractive effort and running resistance characteristics, are obtained. Moreover, the simulation result is accurate enough to predict the maximum drawbar pull for a given tire, once the appropriate parameter values are provided. Therefore, the developed FE-DEM program can be applied with sufficient accuracy to interaction problems in soil-tire systems.

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Section: Introductionmentioning

confidence: 99%

Analysis of Tire Tractive Performance on Deformable Terrain by Finite Element-Discrete Element Method

Nakashima

Takatsu

2008

JCST

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“…, FEM (Finite Element Method) [5] , DEM (Discrete Element Method) [6] 등의 방법들이 있다. 경 험적 방법(empirical method)은 원추 관입 시험기(cone penetration test)를 지형에 밀어 넣어 나오는 수치, 원추 지 수 CI (Cone Index)를 기반으로 지형을 모델링 하는 방법이 다 [7,8] .…”

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“…And also, driving efficiency of UGVs is predicted to reduce energy consumption while traversing rough terrains. , FEM (Finite Element Method) [5] , DEM (Discrete Element Method) [6] 등의 방법들이 있다. 경…”

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confidence: 99%

Prediction of Maneuverability and Efficiency for a Mobile Robot on Rough Terrain through the development of a Testbed for Analysis of Robot-terrain interaction

Kim

Lee

2013

The Journal of Korea Robotics Society

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This paper focuses on development of a testbed for analysis of robot-terrain interaction on rough terrain and also, through one wheel driving experiments using this testbed, prediction of maximum velocity and acceleration of UGV. Firstly, from the review regarding previous researches for terrain modeling, the main variables for measurement are determined. A testbed is developed to measure main variables related to robot-terrain interaction. Experiments are performed on three kinds of rough terrains (grass, gravel, and sand) and traction-slip curves are obtained using the data of the drawbar pull and slip ratio. Traction-slip curves are used to predict driving performance of UGV on rough terrain. Maximum velocity and acceleration of UGVs are predicted by the simple kinematics and dynamics model of two kinds of 4-wheel mobile robots. And also, driving efficiency of UGVs is predicted to reduce energy consumption while traversing rough terrains. , FEM (Finite Element Method) [5] , DEM (Discrete Element Method) [6] 등의 방법들이 있다. 경

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“…Rigorous models capable of relating wheel forces to fundamental soil mechanical properties are comparatively scarce but nevertheless can be found in the literature. These include the analytical and semi-analytical solutions proposed by Marshall (1968), Dagan and Tulin (1969), Collins (1972Collins ( , 1978, Karafiath and Nowatzki (1978), Petryk (1983), Tordesillas and Shi (2000), and Hambleton and Drescher (2009a), as well as the numerical models developed using either finite element or discrete element methods by Yong et al (1978), Liu and Wong (1996), Fervers (2004), Chiroux et al (2005), Shoop et al (2006aShoop et al ( , 2006b, Asaf et al (2006), Drescher (2009a, 2009b), Modenese (2013), Johnson et al (2015), Xiao and Zhang (2016), Ozaki and Kondo (2016) and Nishiyama et al (2016) among others. Alternative mathematical models, developed ad hoc from theoretical considerations or experimental evidence (e.g., Higa et al, 2015) or based on simplifying physical assumptions (e.g., Gray et al, 2016), can also be found in the literature.…”

Section: Introductionmentioning

confidence: 99%

Predicting wheel forces using bearing capacity theory for general planar loads

Stanier

Hambleton

2017

IJVP

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This paper assesses the applicability of bearing capacity theory for evaluating the forces generated on wheels operating on clay under steady rolling conditions. Considering advances in bearing capacity theory, in particular the interaction diagrams developed for general loading, a theoretical model for computing the horizontal force or torque from fundamental input parameters such as the vertical force (weight), wheel diameter, and undrained shear strength of the soil is presented. The predictions are compared with existing analytical solutions and data from laboratory testing, and reasonable agreement is demonstrated. The newly proposed model provides a means to predict wheel forces analytically under any operating condition (driven, braked, or towed), provided the contact length and so-called contact angle, which defines the position of the contact interface, can be estimated. The model provides a rigorous, convenient framework for evaluating wheel forces under arbitrary loading and enables a natural physical interpretation of the mobility problem.Keywords: soil-wheel interaction; mobility; bearing capacity; interaction diagrams; yield envelopes; clay.Reference to this paper should be made as follows: Hambleton, J.P. and Stanier, S.A. (2017) 'Predicting wheel forces using bearing capacity theory for general planar loads ', Int. J. Vehicle Performance, Vol. 3, No. 1, 72 J.P. Hambleton and S.A. StanierBiographical notes: J.P. Hambleton received his Bachelor's, Master's, and Doctoral degrees in Civil Engineering from the University of Minnesota. After completing his PhD in 2010, he worked at The University of Newcastle, Australia, first as a Post-Doctoral Research Associate and then as a Senior Lecturer in the ARC Centre of Excellence for Geotechnical Science and Engineering (CGSE). In 2016, he joined the Department of Civil and Environmental Engineering at Northwestern University as an Assistant Professor. His main research interests are in computational plasticity, geotechnical analysis, contact mechanics, soil-machine interaction, and the analysis of problems involving unsteady plastic flow.Sam A. Stanier obtained a PhD in Geotechnical Engineering from the University of Sheffield in the UK in 2011 with a thesis focused on using transparent soils to model the failure mechanisms of helical screw piles. Since then he has held various research roles at the Centre for Offshore Foundation Systems at UWA, working on projects exploring spudcan punch-through, developing image-based deformation measurement techniques and measuring pipe-soil interaction parameters using shallow penetrometers. He is currently a Research Fellow working on geotechnical aspects of the scope of the ARC Industrial Transformation Research Hub for Offshore Floating Facilities.

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Predicting Soil-Rigid Wheel Performance Using Distinct Element Methods

Cited by 38 publications

References 0 publications

Analysis of Tire Tractive Performance on Deformable Terrain by Finite Element-Discrete Element Method

Analysis of Tire Tractive Performance on Deformable Terrain by Finite Element-Discrete Element Method

Prediction of Maneuverability and Efficiency for a Mobile Robot on Rough Terrain through the development of a Testbed for Analysis of Robot-terrain interaction

Predicting wheel forces using bearing capacity theory for general planar loads

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