Investigation of the soil thrust interference effect for tracked unmanned ground vehicles (UGVs) using model track tests

Shin, Gyu-Beom; Baek, Sung-Ha; Park, Ka-Hyun; Chung, Choong-Ki

doi:10.1016/j.jterra.2020.06.005

Cited by 12 publications

(4 citation statements)

References 16 publications

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“…As an essential issue in the terramechanics, the prediction of tractive performance is extensively concerned by researchers (Battiatoetal & Diserens, 2017;Feng et al, 2018;ten Damme et al, 2021;Xu et al, 2022;Sandu et al, 2019). Furthermore, forces generated on different horizontal surfaces in a grouser shoesoil interaction system are always considered a piece of significant information for promoting tractive performance through the method of parameter optimization (Ani et al, 2018;Edwin et al, 2018;Shin et al, 2020;Li et al, 2021;Zhou et al, 2021). Bekker (1969) introduced the interaction relationship between a structure and a terrain condition in the book Introduction to terrain-vehicle systems.…”

Section: Introductionmentioning

confidence: 99%

Numerical Prediction of Tractive Performance of Track-Soil Interaction System Through Different Grouser Heights

Jun,

Peng,

Cao

et al. 2024

Eng. Agríc.

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This study aims to investigate the influence of moisture contents and grouser heights on traction force exerted on different surfaces in the track-soil interaction system. A sandy loam was employed for acquiring the soil parameters, such as kc, kφ, n, C, Ca, δ, φ, and γ. These parameters were obtained through the mean of the bevameter technique. Moisture contents of the sandy loam were changed from low to high levels, which could be listed as 1.4%, 8.0%, 14.7%, and 22.2% at last. The direct shear and penetration tests were performed for each soil condition of the moisture content, respectively. The model of the single-grouser-shoe (track model) had a length of 9 cm, a width of 15 cm, and varied grouser heights from 0 to 15 cm with a 0.5 cm interval. Based on the calculation result, in general, the shearing force produced by the bottom surface always performs better than either the shear force on the grouser-tip surface or two lateral surfaces. Simultaneously, prediction results also show that the shearing forces were significantly influenced by the level of moisture content in the soil.

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Section: Introductionmentioning

confidence: 99%

Numerical Prediction of Tractive Performance of Track-Soil Interaction System Through Different Grouser Heights

Jun,

Peng,

Cao

et al. 2024

Eng. Agríc.

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“…Bekker [9] initially introduced a soil thrust solution by assuming a rectangular block failure in the ground caused by the track system. Based on this, various researchers have conducted model experiments to demonstrate that block failure typically occurs in sandy soils and have developed an improved method for evaluating soil thrust (e.g., [10][11][12][13]). Additionally, further studies have both experimentally and numerically analyzed soil thrust considering the properties of the soil and the shape of the track system on sandy ground (e.g., [14,15]).…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Upper Bound Solution to Estimate Soil Thrust of a Track System on Saturated Clay Slopes under Undrained Conditions

Shin,

Woo

2024

Applied Sciences

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This study proposes a three-dimensional upper bound solution for estimating the soil thrust of tracked vehicles on saturated clay slopes. The present study considered block, triangular wedge, and trapezoidal wedge failure modes to formulate an upper bound solution for each. The analytical solution for soil thrust was determined as the minimum upper bound solution among those for each failure mode. This analytical solution was validated through numerical simulations that modeled track-ground interactions. Parametric studies, based on the upper bound solution, assessed the impact of track system shape, vehicle weight, undrained shear strength, and ground slope on soil thrust. The analytical solutions and parametric studies provide a rapid method for assessing vehicle operability on clay slopes and offer references for designing tracked vehicles suitable for site conditions.

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“…Experimentally, Xu et al [20] discussed the relationship between the slippage and traction force and determined the optimal grouser height by analyzing the motion of simplified track shoes and the track shoe experiment of different grouser heights. Shin et al [21] discussed the loss mechanism of the lateral thrusting force by a traction force experiment with different shape ratios. Baek et al [22] evaluated the traction performance by testing the slipping sinkage of the track shoes.…”

Section: Introductionmentioning

confidence: 99%

Semi-Empirical Time-Dependent Parameter of Shear Strength for Traction Force between Deep-Sea Sediment and Tracked Miner

2022

Sensors

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Based on our direct shear creep experiment and the direct shear rheological constitutive model, a semi-empirical time-dependent parameter of the shear strength is obtained by Mohr–Coulomb shear strength theory, and different time-dependent traction force calculations between deep-sea sediment and a tracked miner are conducted by the work-energy principle. The time-dependent traction force calculation under its influencing factors, including the time, track shoe number, and grounding pressure, are analyzed and proved to be valid by the traction force experiment of a single-track shoe. The results show that the time-dependent cohesion force obtained by a semi-empirical way can be easily used to deduce the time-dependent traction force models under the different grounding pressure distributions and applied into deep-sea engineering application conveniently; the verified traction force models by the traction force experiment of a single-track shoe illustrate that traction force under the decrement grounding pressure distribution is the worst among the four kinds of grounding pressure distributions and suggested for evaluating the most unfavorable traction force and calculating the trafficability and stability of the deep-sea tracked miner.

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Investigation of the soil thrust interference effect for tracked unmanned ground vehicles (UGVs) using model track tests

Cited by 12 publications

References 16 publications

Numerical Prediction of Tractive Performance of Track-Soil Interaction System Through Different Grouser Heights

Numerical Prediction of Tractive Performance of Track-Soil Interaction System Through Different Grouser Heights

Three-Dimensional Upper Bound Solution to Estimate Soil Thrust of a Track System on Saturated Clay Slopes under Undrained Conditions

Semi-Empirical Time-Dependent Parameter of Shear Strength for Traction Force between Deep-Sea Sediment and Tracked Miner

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