A modified pressure–sinkage model for small, rigid wheels on deformable terrains

Meirion-Griffith, Gareth; Spenko, Matthew

doi:10.1016/j.jterra.2011.01.001

Cited by 87 publications

(32 citation statements)

References 6 publications

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“…(4) The influences of the wheel parameters and motion state variables are not considered in Bekker's model. Meirion-Griffith and Spenko proposed an improved version of Bekker's model by considering the effect of wheel diameter on the normal stress, wheel sinkage and compaction resistance [24]. However, besides the wheel diameter, influential factors of the wheel sinkage and compaction resistance also include the wheel shape, width, lug number, lug height, slip ratio, velocity, multi-passing, and so on.…”

Section: Limitations Of Bekker's Explicit-form Modelmentioning

confidence: 99%

“…The term of r m in Ref. [24] can also be combined into Eq. (28) to reflect the influence of wheel diameter more explicitly.…”

Section: Explicit Analytical Equations For Estimating Static Sinkagementioning

confidence: 99%

“…In order to improve the accuracy and adaptability of the Wong-Reece model, some ad hoc models have been developed. Meirion-Griffith and Spenko deduced improved models for small rigid wheels by considering the influence of wheel radius on the normal stress [24]. Irani et al observed the fluctuation of wheel-terrain interaction due to lugs and deduced a dynamic model for light-weight vehicles' wheel moving on sandy terrain [25].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Improved explicit-form equations for estimating dynamic wheel sinkage and compaction resistance on deformable terrain

Ding

HaiboGao

YuankaiLi

et al. 2015

Mechanism and Machine Theory

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Section: Limitations Of Bekker's Explicit-form Modelmentioning

confidence: 99%

“…The term of r m in Ref. [24] can also be combined into Eq. (28) to reflect the influence of wheel diameter more explicitly.…”

Section: Explicit Analytical Equations For Estimating Static Sinkagementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Improved explicit-form equations for estimating dynamic wheel sinkage and compaction resistance on deformable terrain

Ding

HaiboGao

YuankaiLi

et al. 2015

Mechanism and Machine Theory

View full text Add to dashboard Cite

“…For example, a direct measurement device for the normal stress distribution has been reported [84]. A wheel-diameter dependent pressure-sinkage model has been proposed [85]. An improved approach for the calculation of shear deformation modulus has also been studied [86].…”

Section: Experimental Validationmentioning

confidence: 99%

Space Robotics

Yoshida

Nenchev

Ishigami

et al. 2014

The International Handbook of Space Technology

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“…Using terramechanics, the entrance angle, which can indicate the depth that the wheel is sinking into the soil, is used to lead the drawbar pull. Many researchers are studied about Terramechanics [5][6][7][8]. Ding et al summarized the most recent work on Terramechanics [9].…”

Section: Introductionmentioning

confidence: 99%

Study on grouser mechanism to directly detect sinkage of wheel during traversing loose soil for lunar exploration rovers

et al. 2014

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The rovers, which some researchers and agencies are developing, have many functions to sense a lot of information from peculiar environments like the lunar surface for localization, path planning and so on. On rough terrain, without artificial ground maintenance, like the lunar surface, the rovers avoid obstacles by using sensors, which they have. However, if the rovers traverse loose soil, like the planetary surface, there exists the sinking behavior. This sinkage is caused by the weight of the rover. At present the rover sensors are unable to sense it. Actually, Mars Exploration Rover (MER, NASA/JPL), during its exploration on Mars, was disabled because of this. If MER could have known the subsidence of each wheel in time, MER may have avoided this catastrophic condition. We therefore propose to have the grouser mechanism, which can detect sinkage of the wheels of rovers, installed on the wheels of rovers. The grouser mechanism is needed to traverse loose soil like lunar surface and mars surface. When the wheel rotates on loose soil, the resistance force from the loose soil is given to the grouser. However, initially, for the wheel contacts on the surface of loose soil, the resistance from the loose soil is small. We will develop the grouser mechanism with a function that can detect the whole range of the effective resistance force from loose soil including this small resistance force. This study moreover carries out experiments with various loads and verifies the effectiveness of the proposed mechanism, using pictures, of contact with the loose soil surface.

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A modified pressure–sinkage model for small, rigid wheels on deformable terrains

Cited by 87 publications

References 6 publications

Improved explicit-form equations for estimating dynamic wheel sinkage and compaction resistance on deformable terrain

Improved explicit-form equations for estimating dynamic wheel sinkage and compaction resistance on deformable terrain

Space Robotics

Study on grouser mechanism to directly detect sinkage of wheel during traversing loose soil for lunar exploration rovers

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