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,
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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.