Wheel slip-sinkage and its prediction model of lunar rover

Ding, Liang; Gao, Haibo; Deng, Zongquan; Tao, Jianguo

doi:10.1007/s11771-010-0021-7

Cited by 72 publications

(59 citation statements)

References 11 publications

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“…It should be highlighted that use of the aforementioned equations, including their inherent limitations such as, the inability to predict the additional sinkage caused by the slipping conditions of the wheel, may lead to large errors and unrealistic response of the rolling wheel. Following this limitation, in [12] a new model is proposed where the initially constant exponent of deformation is replaced by a function of slip, as in eq. (11).…”

Section: Bekakos Et Al / Sae Int J Commer Veh / Volume 9 Issue 2mentioning

confidence: 99%

See 1 more Smart Citation

Off-Road Tire-Terrain Interaction: An Analytical Solution

Bekakos¹,

Papazafeiropoulos²,

O'Boy³

et al. 2016

SAE Int. J. Commer. Veh.

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Citation: BEKAKOS, C.-A., 2016. Off-road tire-terrain interaction: an analytical solution. SAE International Journal of Commercial Vehicles, 9 (2), pp. 244-251.Additional Information:• This paper was accepted for publication in the journal SAE In- INTRODUCTIONTire-road interaction is a highly complex dynamic phenomenon, which has been subject to extensive research and development within the automotive industry. The tire is the dominant link between a vehicle body and road surface dynamic interaction in terms of accelerating, braking and steering forces. On-road tires have attracted significant attention with regards to reducing rolling resistance and fuel consumption following several European and/or world guidelines. However, off-road tires-soil interaction occupies an equally important position within the tire industry not only for military purposes but also for the growth of agricultural-based countries' economies.The ability of tracked and wheeled vehicles to transverse certain types of soft soils is a complex, multivariable phenomenon and because of this, several assumptions have to be made in order to create accurate and yet computationally efficient off-road tire models. Finite element models can produce highly accurate time-domain solutions, taking into account the exact properties of the tire and soil surface, however, they are typically unsuitable as inputs for interactive, dynamic vehicle simulations as they operate far from real time. Semi-analytical and/or numerical simplified models have been created in the past where the soil is being regarded as an elasticperfectly plastic material [1] and the tire is being considered as a rigid wheel model, representative of a highly inflated tire rolling on a very soft soil [2]. To the best of the authors' knowledge, regardless of the assumptions involved, in most of the models published in the literature the off-road tire-soil interaction is studied in terms of two main effects. The first tries to capture the relationship between the normal load and vertical displacement (sinkage) of the wheel into the soil; the second has to do with the shear stress-shear displacement developed on the tire-soil interface.In a pioneering paper representative of the former effect [3], based on the observation that the main resistance in a tire's movement is due to the effort to create a rut in order to transverse, Bernstein proposed eq.(1), which was later extended in a more generalized version, i.e. eq. ABSTRACTA novel semi-analytical solution has been developed for the calculation of the static and dynamic response of an off road tire interacting with a deformable terrain, which utilizes soil parameters independent of the size of the contact patch (size-independent). The models involved in the solution presented, can be categorized in rigid and/or pneumatic tires, with or without tread pattern. After a concise literature review of related methods, a detailed presentation of the semi-analytical solution is presented, along with assumptions and limitations. A flowchart is pro...

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Section: Bekakos Et Al / Sae Int J Commer Veh / Volume 9 Issue 2mentioning

confidence: 99%

“…The tire footprint is discretized into a large number of segments (typically ≥ 1000), at each of which the soil pressures are calculated according to eq. (12) (12) where D 1 , D 2 are given by the relations: (13) and z, dL are given by the relations: (14) respectively. It should be noted that in eq.…”

Section: Static Sinkagementioning

confidence: 99%

Off-Road Tire-Terrain Interaction: An Analytical Solution

Bekakos¹,

Papazafeiropoulos²,

O'Boy³

et al. 2016

SAE Int. J. Commer. Veh.

View full text Add to dashboard Cite

show abstract

“…The intrinsic viscosities of obtained P(CMDA-DMDAAC)s accounting for the polymer molecular weights and the monomer conversions were measured according to the literature [6]. The FT-IR spectra of the products in KBr pellets were recorded using a Nicolet FT-IR (510 P) spectrophotometer.…”

Section: Measurementsmentioning

confidence: 99%

“…Up to now, poly (dimethyldiallylammonium chloride) (PDMDAAC) has been used as the optimum dye-fixative with a view to enhance the uptake of anionic dyes on cotton fabrics, and the mechansim of interactions involved can be interpreted as the participation of electrostatic forces between the dyes and the basic cationic groups in the polymer, which is the polymer derived from radical homopolymerization of dimethyldiallylammonium chloride (DMDAAC) [4][5][6]. The PDMDAAC dye-fixatives can be widely applied in the fixing of different dyes on cotton fabrics due to the similar conformational structures between cellulose and the unit of DMDAAC, which would be expected to contribute to strong interactions [7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

Controlled synthesis of novel reactive cationic copolymers of 3-chloro-2-hydroxypropylmethyldiallylammonium chloride and dimethyldiallylammonium chloride [P(CMDA-DMDAAC)s]: designed as useful polycationic dye-fixatives on cotton fabric

Zhang

2012

Res Chem Intermed

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A series of novel reactive cationic copolymers [P(CMDA-DMDAAC)s] of 3-chloro-2-hydroxypropylmethyldiallylammonium chloride (CMDA) and dimethyldiallylammonium chloride (DMDAAC), were designed as useful polycationic dye-fixatives on cotton fabric. The structures of obtained P(CMDA-DMDAAC)s could be controlled by varying molar ratios of raw materials of CMDA to DMDAAC during polymerization, and their molecular weights were possibly controlled by adjusting different polymerization conditions. The results showed that under the same conditions when the polymerization temperatures were kept at 60°C for 6 h and then heated to 70°C for 2 h, when the initial monomer concentrations (w/w) were increased from 23 to 40 % and the initiator amounts were gradually decreased from 7 to 6 %, a series of novel products P(CMDA-DMDAAC)s with 2-20 % molar contents of reactive units (CMDA units) in main chains and controlled intrinsic viscosities of 0.15-0.76 dL/g were successfully synthesized, which were as designed and could be expected as novel useful reactive polycationic dyefixatives on cotton fabric.

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“…Among them, poly(dimethyldiallylammonium chloride) (PDM) would be one of the most optimum polycationic dye-fixatives, which is the polymer derived from radical homopolymerization of dimethyldiallylammonium chloride (DM). [2][3][4] Cellulose and the unit of dimethyldiallylammonium chloride have similar conformational structures, and this would be expected to contribute to strong interactions, 5 thus, PDM dye-fixative can be widely applied in the fixing of different dyes on cotton fabrics. [6][7][8] However, PDM exhibits usually poor rubbing fastness especially poor wet rubbing fastness.…”

Section: Introductionmentioning

confidence: 99%

Controlled‐synthesis of Slightly Crosslinked Poly(dimethyldiallylammonium chloride)s Used as Useful Polycationic Dye‐fixatives on Cotton Fabric

Zhang

2011

J Chinese Chemical Soc

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A series of slightly crosslinked poly (dimethyldiallylammonium chloride) s (PDMs) as useful polycationic dye-fixatives on cotton fabric were synthesized by copolymerization of triallylmethylammonium chloride (TAMAC) and dimethyldiallylammonium chloride (DM). The structures of slightly crosslinked PDMs could be controlled by varying molar ratio of TAMAC to DM during polymerization, and their molecular weights were possibly controlled by adjusting different polymerization conditions. The results showed, under the same conditions that the polymerization temperatures were kept at 65°C for 6 h and then heated to 80°C for 2 h, when the initial monomer concentrations (w/w) were increased from 37% to 50%, the initiator amount were gradually decreased from 9% to 5%, a series of slightly crosslinked PDMs with controlled structures of 1%-5% TAMAC molar contents and controlled intrinsic viscosities of 0.18~0.65 dL/g were successfully synthesized, which were as designed and could be expected as novel useful polycationic dye-fixatives on cotton fabric.

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Wheel slip-sinkage and its prediction model of lunar rover

Cited by 72 publications

References 11 publications

Off-Road Tire-Terrain Interaction: An Analytical Solution

Off-Road Tire-Terrain Interaction: An Analytical Solution

Controlled synthesis of novel reactive cationic copolymers of 3-chloro-2-hydroxypropylmethyldiallylammonium chloride and dimethyldiallylammonium chloride [P(CMDA-DMDAAC)s]: designed as useful polycationic dye-fixatives on cotton fabric

Controlled‐synthesis of Slightly Crosslinked Poly(dimethyldiallylammonium chloride)s Used as Useful Polycationic Dye‐fixatives on Cotton Fabric

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