Highlights Stress distributions under lightweight wheeled vehicles are presented. Stress distribution across wheel width varies significantly only for large slip. Coefficients for determining the position of maximum radial stress are measured. We show how to obtain results accurate within 11% using semi-empirical wheel models.

    Abstract In recent years, the need for reliable modeling tools for lightweight robotic systems deployed on various terrains has spurred research efforts into development of vehicle terrain interaction (VTI) models. This paper presents an analysis of rigid wheels – dry sand interaction and compares experimental results with predictions from established terramechanics theory. A novel experimental setup, based on sensing elements placed on the wheel surface, allows inference of normal and tangential stress at the wheel-terrain interface. A particle image velocimetry (PIV) analysis is used to study the soil kinematics under the wheel. The analysis of stress profiles shows that stress patterns under lightweight vehicle wheels conform reasonably well to established terramechanics theory developed for heavy vehicles. For the wheel under investigation, the stress distribution had minor variation along wheel width for low slip conditions. The wheel model proposed by Wong and Reece was analyzed in light of the stress and soil kinematics measurements available. It was found that, by appropriately characterizing the model coefficients c 1 and c 2 , and understanding the physical meaning of the shear modulus k x , it is possible to obtain torque, drawbar force, and sinkage predictions within 11% (full scale error) of experimental data.


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    Title :

    Analysis of stress distributions under lightweight wheeled vehicles


    Contributors:
    Senatore, C. (author) / Iagnemma, K. (author)

    Published in:

    Publication date :

    2013-10-25


    Size :

    17 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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