Tractive performance of a driven rigid wheel on soft ground based on the analysis of soil-wheel interaction

Muro, Tatsuro

doi:10.1016/0022-4898(93)90011-l

Cited by 26 publications

(7 citation statements)

References 6 publications

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“…The results and the method presented provide a background for a new, analytical method for calculation of wheel performance: when compared with the existing methods [4][5][6][7][8], the use of soil stress analysis can be advantageous over the method based on wheel-soil contact stresses (which are difficult to measure). In future research of the wheel-soil system, parameterization and verification of existing models as well as creation of new models is very important, since there is a lack of experimental databases in the literature and known solutions still require to be improved.…”

Section: Discussionmentioning

confidence: 99%

“…A major difference between concrete and a soft surface is that the first acts like a bridge, which transfers wheel loads over a greater surface, while the second deforms intensively as the loads are concentrated on a very small contact surface. Numerous papers have proven the importance and practical meaning of the stress state under wheels for off-road traction determination or prediction [4][5][6][7][8][9]. In most models, tractive forces (drawbar pull, rolling resistance, and vertical load) are determined on the basis of an analysis of stress state or stress distribution on a contact surface.…”

Section: Introductionmentioning

confidence: 99%

“…During rolling, the forces acting on a wheel are rolling resistance, vertical load, and shearing and cornering forces. During driving or braking, another driving force is generated in the wheel-surface contact area as well as inside the volume under this patch [14][15][16]. This driving force depends on numerous factors (the tyre dimensions, tread pattern, inflation pressure, type and state of the surface, etc.)…”

Section: Introductionmentioning

confidence: 99%

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Determining and analysing the stress state under wheeled-vehicle loads

Pytka

2009

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper contains experimental data from the soil stress state under wheeledvehicle loads obtained in several field experiments. Three-wheeled vehicles were used for the tests: a 14 t 666 and a 6 t 464 truck as well as a 3.1 t agricultural tractor. The vehicles were driven over different types of soils (sandy soil, loess (clay), and turf) and over a snow cover. The measuring method is described. An analysis of principal stresses as well as octahedral stresses was performed taking into account the following factors: vehicle weight and wheel loading, vehicle speed, multiple passes, reduced inflation pressure, and wheel-function modes (rolling and driving). An analysis of octahedral stresses was performed on the basis of correlations between these stresses and the drawbar pull force generated by the vehicle. The most significant finding from this work is that the soil stress under a loaded vehicle depends not only upon the contact pressure but also upon factors that change during operations, such as the speed, wheel slip, load distribution, and multiple passes. This explains why the results of offroad mobility and trafficability models based on flat values of wheel-soil pressure may vary far more than expected. It was also concluded that soil stresses are affected by rolling and driving modes, but the relationships are different for sand and loess soil surfaces.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Determining and analysing the stress state under wheeled-vehicle loads

Pytka

2009

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…It was also shown that these do not only depend on soil properties and wheel dimensions, but wheel slip, as well. Additional work has used analytical models to approximate wheel/soil interaction [25], [26], as well as finite element methods [27], [28].…”

Section: B Wheeled Mobilitymentioning

confidence: 99%

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

et al. 2006

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Abstract-Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of small incisions reduces patient trauma, but also eliminates the surgeon's ability to view and touch the surgical environment directly. These limitations generally restrict the application of laparoscopy to procedures less complex than those performed during open surgery. This paper presents a theoretical and experimental analysis of miniature, wheeled, in vivo robots to support laparoscopy. The objective is to develop a wireless mobile imaging robot that can be placed inside the abdominal cavity during surgery. Such robots will allow the surgeon to view the surgical environment from multiple angles. The motion of these in vivo robots will not be constrained by the insertion incisions. Simulation and experimental analyses have led to a wheel design that can attain good mobility performance in in vivo conditions.

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“…The simulation of the tractive or braking performance of a driven or towed rigid wheel on a weak ground was already verified experimentally by use of a rigid wheel of 16 cm radius and 9.5 cm width running on a loose air-dried sandy soil respectively [11 [2]. Here, the tractive performance of the two-axle, four wheel vehicle with rear wheel drive system moving up a sloped terrain of a loose air-dried decomposed granite terrain is considered as the combination of the effective braking force in the unpowered rolling state of the front wheel and the effective driving force during driving action of the rear wheel.…”

Section: : Simulation Analysismentioning

confidence: 99%

Optimal Design Method of a Wheel Travel System for Special Purpose and Robotic Vehicle Operating over Sloped Weak Sandy Terrain

Muro¹,

Shigematsu²

1997

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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In this paper, a mathematical model of vehicle tractive performance was developed and various center of gravity and height of application force movement effects were analysed by mathematical simulation. For given set of vehicle dimensions and terrain -wheel system constants, the simulation calculated, effective tractive effort and rear wheel sinkage, slip ratio of a special designed wheeled robotic vehicle running over sloped weak sandy terrain for straight forward motion. For a 5.88 kN weight vehicle, it is clarified that the optimal eccentricity of center of gravity and the optimal application height are determined as 116 and 35 cm respectively, for the range of slope angle less than n/18 rad during driving state of the rear wheel etc.. 1: IntroductionThis paper addresses the general problem of the design of wheel-base travel systems for special purpose vehicle and robotic machines that are required to move over weak surface or over light bonded terrain of a sandy soil. In relation to the special case of a vehicle travelling on a weak sloped sandy terrain under construction, the paper presents detailed studies of the tractive performance of rear-wheel drive system vehicle with an alternative eccentricity of center of gravity and applcation height configulations. For these studies, a detailed simulation-analytic method was used. Some possibilities for the real time optimal control of the tractive performance of automated and robotic vehicle are outlined.The objective of this paper is to establish the control system of the position of the eccentricity of center of gravity and the application height of the tractive effort to optimize the tractive performance of a wheeled vehicle. This offers the possibility of dynamically varying these parameters during vehicle travel to maximize traction effort for straight forward motion.Here, the mechanism of the tractive performance of a 5.88 kN weight, two-axle, four-wheel vehicle with rear-wheel drive system moving up during driving action a sloped terrain of an air-dried decomposed granite soil is considered mathematically. The tractive performance of the wheeled vehicle constructed by two front wheels during unpowered rolling state and two rear wheels during driving action is simulated for a given set of dimension of the vehicle and terrain-wheel system constants. The relationship among the effective tractive effort of the vehicle, the effective driving force of the rear wheel, the amount of sinkage of the front and rear wheel, and the slip ratio of the rear wheel is analysed by use of the simulation-analytic program.Based on the simulation analytical results, the optimal eccentricity of center of gravity and the optimal application height to obtain the largest effective tractive effort of the vehicle can be determined. Then the effect of the slope angle on the optimal eccentricity of center of gravity and the optimal application height is investigated.Finally, several automatic control systems to maintain these optimal positions of the eccentricity and the applic...

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Tractive performance of a driven rigid wheel on soft ground based on the analysis of soil-wheel interaction

Cited by 26 publications

References 6 publications

Determining and analysing the stress state under wheeled-vehicle loads

Determining and analysing the stress state under wheeled-vehicle loads

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

Optimal Design Method of a Wheel Travel System for Special Purpose and Robotic Vehicle Operating over Sloped Weak Sandy Terrain

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