Dynamic Modeling and Vibration Analysis for the Vehicles with Rigid Wheels Based on Wheel-Terrain Interaction Mechanics

Abstract

The contact mechanics for a rigid wheel and deformable terrain are complicated owing to the rigid flexible coupling characteristics. Bekker’s equations are used as the basis to establish the equations of the sinking rolling wheel, to vertical load pressure relationship. Since vehicle movement on the Moon is a complex and on-going problem, the researcher is poised to simplify this problem of vertical loading of the wheel. In this paper, the quarter kinetic models of a manned lunar rover, which are both based on the rigid road and deformable lunar terrain, are used as the simulation models. With these kinetic models, the vibration simulations were conducted. The simulation results indicate that the quarter kinetic model based on the deformable lunar terrain accurately reflects the deformable terrain’s influence on the vibration characteristics of a manned lunar rover. Additionally, with the quarter kinetic model of the deformable terrain, the vibration simulations of a manned lunar rover were conducted, which include a parametric analysis of the wheel parameters, vehicle speed, and suspension parameters. The results show that a manned lunar rover requires a lower damping value and stiffness to achieve better vibration performance.

Adaptive heading correction for an industrial heavy-duty omnidirectional robot

“…This assumption has been widely adopted in the literature for the analysis of many robots, e.g. 31,32 . Further studies 33 have demonstrated how the theory of vibration of single-degree-of-freedom systems serves as one of the fundamental building blocks in the theory of vibration of discrete and continuous systems and the techniques developed for the analysis of single degree of freedom systems can be generalized to study discrete systems with multi-degree of freedom as well as continuous systems.…”

On the vibration analysis of off-road vehicles: Influence of terrain deformation and irregularity

“…(2004), efforts are devoted to model vehicle–soil interaction using different quarter-vehicle models that describe singularly the three main cases of interest: vehicle on hard pavement; vehicle on deformable terrain with rigid wheel; vehicle with simultaneous deformability in both soil and tire. A similar approach is followed by Wang et al. (2015), where the specific case of rigid wheel rolling on deformable soil is studied.…”