A method for deducing pressure–sinkage of tracked vehicle in rough terrain considering moisture and sinkage speed

Yang, Congbin; Yang, Guang; Liu, Zhifeng; Chen, Huaxiong; Zhao, Yongsheng

doi:10.1016/j.jterra.2018.09.001

Cited by 17 publications

(7 citation statements)

References 21 publications

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“…The adjusted R square of sinkage exponent was 0.94309 found by non-linear curve fitting using the Gauss model. The present results are in close agreement with previously reported that the soil cohesive and friction modulus increased with the increase in the moisture content to a certain level, and after that, it decreased with the increase in the moisture [24,[31][32][33][34].…”

Section: Soil Cohesion Modulus (K C ) Friction Modulus (Kφ) and Sinka...supporting

confidence: 93%

Effect of Grouser Height on the Tractive Performance of Single Grouser Shoe under Different Soil Moisture Contents in Clay Loam Terrain

Shaikh

et al. 2021

Sustainability

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The grouser height and soil conditions have a considerable influence on the tractive performance of single-track shoe. A soil bin-based research was conducted to assess the influence of grouser height on the tractive performance of single-track shoe at different moisture contents of clay loam soil. Eight moisture contents (7.5, 12, 16.7, 21.5, 26.2, 30.7, 35.8, and 38%) and three grouser heights (45, 55, and 60 mm) were comprised during this study. The tractive performance parameters of (thrust, running resistance, and traction) were determined by penetration test. A sensor-based soil bin was designed for penetration tests, which was included penetration system (AC motor, loadcell, and displacement sensor). The test results revealed that soil cohesion was decreased, and adhesion was increased after 16.7% moisture content. Soil thrust at lateral sides and bottom of grouser were increased before 16.7%, and then decreased for all the three heights but the major decrease was observed at 45 mm height. The motion resistance was linearly decreased, the more reduction was on 45 mm at 38% moisture content. The traction of the single-track shoe was decreased with a rise in moisture content, the maximum decrease was on 45 mm grouser height at 38% moisture content. It could be concluded that an off-road tracked vehicle (crawler combine harvester) with 45 mm grouser height of single-track shoe could be operated towards a moderate moisture content range (16.7–21.5%) under paddy soil for better traction.

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Section: Soil Cohesion Modulus (K C ) Friction Modulus (Kφ) and Sinka...supporting

confidence: 93%

Effect of Grouser Height on the Tractive Performance of Single Grouser Shoe under Different Soil Moisture Contents in Clay Loam Terrain

Shaikh

et al. 2021

Sustainability

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“…Given these observations, it can be inferred that the complex interplay between water molecules and Bentonite soil particles may increase flexibility, thereby facilitating more significant sinkage under applied loads. Such behavior can have important implications, especially in construction or agricultural settings where precise knowledge of the soil’s response to moisture is paramount [ 54 ].…”

Section: Resultsmentioning

confidence: 99%

Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions

Rauf,

Ning,

Ming

et al. 2024

Sensors

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Trafficability gives tracked vehicles adaptability, stability, and propulsion for various purposes, including deep-sea research in rough terrain. Terrain characteristics affect tracked vehicle mobility. This paper investigates the soil mechanical interaction dynamics between rubber-tracked vehicles and sedimental soils through controlled laboratory-simulated experiments. Focusing on Bentonite and Diatom sedimental soils, which possess distinct shear properties from typical land soils, the study employs innovative user-written subroutines to characterize mechanical models linked to the RecurDyn simulation environment. The experiment is centered around a dual-tracked crawler, which in itself represents a fully independent vehicle. A new three-dimensional multi-body dynamic simulation model of the tracked vehicle is developed, integrating the moist terrain’s mechanical model. Simulations assess the vehicle’s trafficability and performance, revealing optimal slip ratios for maximum traction force. Additionally, a mathematical model evaluates the vehicle’s tractive trafficability based on slip ratio and primary design parameters. The study offers valuable insights and a practical simulation modeling approach for assessing trafficability, predicting locomotion, optimizing design, and controlling the motion of tracked vehicles across diverse moist terrain conditions. The focus is on the critical factors influencing the mobility of tracked vehicles, precisely the sinkage speed and its relationship with pressure. The study introduces a rubber-tracked vehicle, pressure, and moisture sensors to monitor pressure sinkage and moisture, evaluating cohesive soils (Bentonite/Diatom) in combination with sand and gravel mixtures. Findings reveal that higher moisture content in Bentonite correlates with increased track slippage and sinkage, contrasting with Diatom’s notable compaction and sinkage characteristics. This research enhances precision in terrain assessment, improves tracked vehicle design, and advances terrain mechanics comprehension for off-road exploration, offering valuable insights for vehicle design practices and exploration endeavors.

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“…Given these observations, it can be inferred that the complex interplay between water molecules and Bentonite soil particles may result in increased flexibility, thereby facilitating more significant sinkage under applied loads. Such behavior can have significant implications, especially in construction or agricultural settings where precise knowledge of soil's response to moisture is paramount [27]. Contrarily, the cohesive modulus for Bentonite depicts an inverse relationship with moisture.…”

Section: Impact Of Moist Soil Content On Sinkage Exponentmentioning

confidence: 99%

Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain

Rauf,

Yang,

Ming

et al. 2023

Preprint

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Tracked vehicles play a significant role in engineering. Supportive trafficability is the salvation of any tracked vehicle. Terrain characteristics have a substantial impact on tracked vehicle mobility. We consider a tracked vehicle traversing known terrain in this paper. Vehicle-terrain interaction covers track-soil friction, soil compaction, traction, bearing capacity, and sinkage resistance. Identifying the soil parameters upon which a tracked vehicle moves will likely lead to more accurate traversability predictions, better traction control, and more accurate trajectory tracking. Conventional terramechanical models cannot adequately describe the connection between tracks and soil. Obtaining real-time measurements of the ground pressure of the soil as the unmanned tracked vehicle moves in the soil bin of dimensions 610 cm long, 245 cm wide, and 180 cm deep is challenging. The utilization of real-time data enables monitoring dynamic variations in ground pressure exerted by the operational components within a soil bin. A ground pressure monitoring device suitable for wet and dry soil was designed to reduce the accumulation of choked damp soil, clay, or mud in the sensor, sensor bracket, track, and other equipment. The device uses a pressure sensor, a data logger, and wireless measurement technology. It can simultaneously measure up to 8 pressure sensors and transmit measurement data remotely to a computer. This reduces the labor intensity of measuring personnel in muddy soil. Data analysis showed that the crewless tracked vehicle’s ground pressure and forward resistance increased with forward speed and vertical load. A law was also discovered explaining how ground pressure (sinkage) spreads between the trackpad and the soil. A general technique is presented in this paper that can be applied to any tracked vehicle. The conclusions show that the ground pressure measurement system works steadily in different humidity scenarios. In addition, the data that has been gathered can be transmitted to a computer using wireless communication methods.

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A method for deducing pressure–sinkage of tracked vehicle in rough terrain considering moisture and sinkage speed

Cited by 17 publications

References 21 publications

Effect of Grouser Height on the Tractive Performance of Single Grouser Shoe under Different Soil Moisture Contents in Clay Loam Terrain

Effect of Grouser Height on the Tractive Performance of Single Grouser Shoe under Different Soil Moisture Contents in Clay Loam Terrain

Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions

Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain

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