Modeling of wheel–soil interaction over rough terrain using the discrete element method

Smith, William; Peng, Huei

doi:10.1016/j.jterra.2013.09.002

Cited by 80 publications

(26 citation statements)

References 22 publications

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“…Interest is increasing in the use of DEM models to improve the physical representation of off-road vehicle mobility in conditions where classical terramechanics models have difficulty (Li et al, 2012;Lichtenheldt and Schäfer, 2013;Nakashima et al, 2010;Smith and Peng, 2013;Smith et al, 2014;Wang et al, 2011). These studies have demonstrated that even 2-D DEM simulations with relatively simple particle geometries can provide useful qualitative representations of off-road vehicle mobility.…”

Section: Dem Models and Their Constraintsmentioning

confidence: 99%

Discrete element method simulations of Mars Exploration Rover wheel performance

Johnson

Kulchitsky

Duvoy

et al. 2015

Journal of Terramechanics

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Mars Exploration Rovers (MERs) experienced mobility problems during traverses. Three-dimensional discrete element method (DEM) simulations of MER wheel mobility tests for wheel slips of i = 0, 0.1, 0.3, 0.5, 0.7, 0.9, and 0.99 were done to examine high wheel slip mobility to improve the ARTEMIS MER traverse planning tool. Simulations of wheel drawbar pull and sinkage MIT data for i 6 0.5 were used to determine DEM particle packing density (0.62) and contact friction (0.8) to represent the simulant used in mobility tests. The DEM simulations are in good agreement with MIT data for i = 0.5 and 0.7, with reasonable but less agreement at lower wheel slip. Three mobility stages include low slip (i < 0.3) controlled by soil strength, intermediate slip (i $ 0.3-0.6) controlled by residual soil strength, and high slip (i > 0.6) controlled by residual soil strength and wheel sinkage depth. Equilibrium sinkage occurred for i < 0.9, but continuously increased for i = 0.99. Improved DEM simulation accuracy of low-slip mobility can be achieved using polyhedral particles, rather than tri-sphere particles, to represent soil. The DEM simulations of MER wheel mobility can improve ARTEMIS accuracy.

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Section: Dem Models and Their Constraintsmentioning

confidence: 99%

Discrete element method simulations of Mars Exploration Rover wheel performance

Johnson

Kulchitsky

Duvoy

et al. 2015

Journal of Terramechanics

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“…In [37] a 2D DEM model that includes a tensile spring for accounting for soil cohesion was developed and used in soil-tire interaction simulations. In [38] the particle force model developed in [37] was implemented in a 3D DEM model and used to model a rigid wheel interaction with a cohesive soil. In [39][40][41] an implicit differential variational inequality (DVI) solver was developed and used in ground vehicle mobility simulations.…”

Section: Height-field Based Modelsmentioning

confidence: 99%

Prediction of vehicle mobility on large-scale soft-soil terrain maps using physics-based simulation

Wasfy

Jayakumar

Mechergui

et al. 2018

IJVP

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A high-fidelity physics-based approach for predicting vehicle mobility over large terrain maps is presented. The novelties of this paper are: (i) modeling approach based on seamless integration of multibody dynamics and the discrete element method (DEM) into one solver, and (ii) an HPC-based design-of-Experiments (DOE) approach to predict the off-road soft soil mobility of ground vehicles on large-scale terrain maps. A high-fidelity multibody dynamics model of a typical 4x4 military vehicle is used which includes models of the various vehicle systems such as chassis, wheels/tires, suspension, steering, and power train. A penalty technique is used to impose joint and contact constraints. A general cohesive soil material DEM model is used which includes the effects of soil cohesion, elasticity, plasticity/compressibility, damping, friction, and viscosity. To manage problem size, a novel moving soil patch technique is used in which DEM particles which are far behind the vehicle are continuously eliminated and then reemitted in front of the vehicle as new particles and then leveled and compacted. The governing equations of motion of both the vehicle and the soil particles are solved along with joint and contact constraints using an explicit timeintegration procedure. The DEM inter-particle cohesion and friction forces are calibrated to the cone index using a simulation of a cone penetrometer experiment. The DOE approach is demonstrated by predicting the speed-made-good distribution for a typical military vehicle on 22 km × 22 km terrain map. Two terrain parameters are considered in the DOE, namely, terrain positive slope and soil strength. This is the first time such mobility map is generated using highfidelity physics-based simulations.

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“…Matsushima et al [13,14] proposed a dynamic optimization algorithm method to simulate the complex shape of the actual lunar soil particles, and carried out PFC modelling of study the influence of the micro-parameters such as the indirect contact stiffness, elastic constant and friction coefficient on the forming process of the angle of repose. Furthermore, the interaction behaviour between exploration equipment and lunar soils was also investigated by DEM numerical simulations [16][17][18][19]. Smith and Peng [17] found that surface roughness significantly influence vehicle mobility and efficiency by DEM modelling of wheel-soil interaction over rough terrain.…”

Section: Introductionmentioning

confidence: 99%

“…Furthermore, the interaction behaviour between exploration equipment and lunar soils was also investigated by DEM numerical simulations [16][17][18][19]. Smith and Peng [17] found that surface roughness significantly influence vehicle mobility and efficiency by DEM modelling of wheel-soil interaction over rough terrain. Zou et al [18] carried out the plate-sinkage test and the track-shoe test to study the stress sinkage and shear properties of the lunar soil.…”

Section: Introductionmentioning

confidence: 99%

Discrete Element Modeling of Strength Properties and Failure Modes of Qh-E Lunar Soil Simulant at Low Confining Stresses

Li¹,

Zou²,

Wu³

et al. 2018

CEJ

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In this paper, discrete element method (DEM) is used to investigate the strength properties and failure modes of QH-E lunar soil simulant at the low confining stress. The deviator stress-axial strain curves and volumetric strain-axial strain curves are obtained based on DEM simulations, which are basically consistent with the experimental results at the low confining stresses, and the lower confining stress is, the closer to the experimental curves will obtain. Moreover, for a given low confining stress, the effects of porosity and friction coefficient on strength properties of QH-E samples are discussed. The results show that the peak stress, residual stress and axial strain corresponding to the peak stress obviously decrease with the increase of the porosity, while slightly increase with the increase of the friction coefficient. Furthermore, the whole failure processes and failure modes at different low confining stresses are also observed by DEM simulations. The simulated results indicate that the V-type shear zone (double shear bands) is the main failure mode at the low confining stress, and then the V-type shear zone gradually changes to a single shear band (along the horizontal direction about 52 o) with the increase of the confining stress.

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Modeling of wheel–soil interaction over rough terrain using the discrete element method

Cited by 80 publications

References 22 publications

Discrete element method simulations of Mars Exploration Rover wheel performance

Discrete element method simulations of Mars Exploration Rover wheel performance

Prediction of vehicle mobility on large-scale soft-soil terrain maps using physics-based simulation

Discrete Element Modeling of Strength Properties and Failure Modes of Qh-E Lunar Soil Simulant at Low Confining Stresses

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