Highlights ► Developed and validated a dynamic terramechanic model for wheels with grousers. ► Validated use is for small lightweight vehicles operating in sandy soil. ► The model is based on established theories and has two new dimensionless coefficients. ► The model is able to model oscillations in experimental data caused by grousers. ► The model show an improvement over traditional terramechanic models.
Abstract This paper presents a validated dynamic terramechanic model for rigid wheels with grousers that may be used for planetary and terrestrial mobile robots operating in loose sandy soil. The proposed model is based on established analytical terramechanic theories and incorporates two new dimensionless empirical coefficients. The additional terms in the model are based on existing soil mechanic theories that vary as a function of soil properties, slip conditions, and vehicle loading. The proposed model was able to capture and predict the dynamic oscillations observed in experimental data from a single-wheel testbed for the sinkage, drawbar pull and normal load. For the operating conditions tested in this research the simulation results using the proposed model show an improvement over traditional terramechanic models for capturing the dynamic effects of grousers.
A dynamic terramechanic model for small lightweight vehicles with rigid wheels and grousers operating in sandy soil
Journal of Terramechanics ; 48 , 4 ; 307-318
2011-05-02
12 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Design of wheels with grousers for planetary rovers traveling over loose soil
Online Contents | 2013
|Shape effects of wheel grousers on traction performance on sandy terrain
Elsevier | 2019
|