On the impact of cargo weight, vehicle parameters, and terrain characteristics on the prediction of traction for off-road vehicles

Li, Lin; Sandu, Corina

doi:10.1016/j.jterra.2007.04.002

Cited by 42 publications

(18 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Vehicle suspension systems and their role in off-road performance have been studied in considerable detail (Ben Amar et al, 1997;Wong, 2008), together with the optimization of the suspension system design parameters for improved rider comfort and road handling (Gobbi and Mastinu, 2001;Verros et al, 2005;Uys et al, 2006). Furthermore, the relationship between vehicle performance and pneumatic-tire and wheel designs has been studied extensively for road mobility and some work has been conducted in determining the relationship between tire and vehicle suspension design parameters and off-road mobility performance (Raper et al, 1995;Li and Sandu, 2007). In the literature, however, nothing has been found on optimizing non-pneumatic, non-rubber compliant wheels for extraterrestrial or off-road mobility.…”

Section: Simplified Vehicle Dynamics Modelsmentioning

confidence: 99%

“…A simplified model of the vehicle and wheel is used here to analyze the response of the vehicle when traveling at a constant speed over irregular terrain. This model is named the quarter-car model and its use is reported extensively in the literature (Gobbi and Mastinu 2001;Verros et al, 2005;Li and Sandu, 2007) for analyzing vehicle response and optimizing the suspension-system parameters. Models of higher fidelity, such as full three-dimensional car models (Uys et al, 2006), are not employed at this stage of wheel optimization, owing to the added complexity of terrain modeling and lack of detailed design of the vehicle and wheel.…”

Section: Simplified Vehicle Dynamics Modelsmentioning

confidence: 99%

See 1 more Smart Citation

A Parametric study and experimental testing of lunar-wheel suspension on dynamic terrainability

Faragalli¹,

Pasini²,

Radziszewski³

2011

Can. Aeronaut. Space J.

View full text Add to dashboard Cite

The development of a flexible metallic wheel proved to be one of the most challenging and time-consuming aspects of the Lunar Roving Vehicle of the Apollo missions (V. Asnani, D. Delap, and C. Creager. 2009. Journal of Terramechanics, 46: 89 103). The design was realized through an iterative trial and error design process, driven primarily by manufacturability and physical testing. Although the wire-mesh-compliant wheel design was identified as the best choice for the Lunar Roving Vehicle, mission scenarios have evolved and future lunar vehicles are bound to have to meet different functional requirements and more severe life and operational constraints. For example, these vehicles will have to travel farther on the lunar surface, explore permanently shadowed craters, and perform a variety of tasks such as transporting sensitive payloads and excavatiing regolith, and allow for both unmanned and manned operation. This work focuses on optimizing the suspension design parameters of a flexible, compliant wheel for maximizing the dynamic terrainability performance of a lunar rover. The suspension design parameters are identified, independently of the explicit wheel configuration. The terrainability of the rover is defined here as the rover's ability to negotiate terrain irregularities. Terrainability is quantified by the objective functions describing road holding and rider comfort. These objective functions ensure that the rover payload is isolated from vehicle terrain-induced vibrations, and that the wheels maintain ground contact during higher speed traversals. A simplified vehicle model is used for the dynamics analysis of the terrain vehicle system with the terrain modeled as a random stationary ergodic process characterized by a power spectral density function. A sensitivity analysis is performed to identify conflicting objectives, and a recommendation on optimal wheel suspension design variables is made. Finally, experimental testing of reduced-scale wheels with different suspension properties is conducted on three irregular terrain types and results confirm the theoretical predictions. Ultimately, the results of this research will be used in a system-level analysis of the wheel design parameters on vehicle performance to guide the structural optimization of the compliant wheel for lunar surface exploration vehicles.

show abstract

Section: Simplified Vehicle Dynamics Modelsmentioning

confidence: 99%

Section: Simplified Vehicle Dynamics Modelsmentioning

confidence: 99%

A Parametric study and experimental testing of lunar-wheel suspension on dynamic terrainability

Faragalli¹,

Pasini²,

Radziszewski³

2011

Can. Aeronaut. Space J.

View full text Add to dashboard Cite

show abstract

“…The PC expansion methods have been widely used in various engineering problems, such as in fluid mechanics [31], vehicle dynamics [32,33], structure dynamics [34], and optimization problems [35].…”

Section: Introductionmentioning

confidence: 99%

Dynamic computation of flexible multibody system with uncertain material properties

Luo

Zhang

et al. 2016

Nonlinear Dyn

View full text Add to dashboard Cite

Based on the theory of Absolute Nodal Coordinate Formulation (ANCF), this paper proposes a new dynamic computation method to solve the flexible multibody system with uncertain material properties (Young's modulus and Poisson's ratio) that may be induced by the material asymmetric distribution.Rather than traditionally considering an uncertain factor as one single variable in the whole system, the material properties vary continuously in the space domain so that they are described by the random field, which is then discretized to countable random variables using the expansion optimization linear estimation (EOLE) method. The uncertain response of the system is approximated by the Polynomial Chaos (PC) expansion, numerically implemented by a collocation method. We propose and prove an important theory that the collocation method provides the same results as the Gaussian quadrature formula if the roots of the corresponding orthogonal polynomials are used as the collocation points. As a result, the proposed method is a non-intrusive technique that does not modify the original solver but only adds a pre-process and a post-process. The uncertain displacement of system is finally illustrated by an ellipse and ellipsoid, which visually show the uncertainty extent and correlation between different coordinates. The numerical examples show that the proposed method has almost an equivalent accuracy of Monte Carlo simulation but much higher efficiency.

show abstract

“…Concerning the modeling of uncertainties in multibody dynamical system, very few previous studies have been carried out. They aimed at taking into account uncertainties (1) for parameters such as stiffness of a suspension [13], friction coefficient [24], aerodynamic coefficients [3]), (2) for the input loads or imposed displacements such as, for instance, the profile of a road (see [18] and [20,21,3]). Note that these types of parameters describe the joints linking each rigid body to the others and the external sources, but not rigid bodies themselves.…”

Section: Introductionmentioning

confidence: 99%

Rigid multibody system dynamics with uncertain rigid bodies

Batou

Soize

2011

Multibody Syst Dyn

View full text Add to dashboard Cite

International audienceThis paper is devoted to the construction of a probabilistic model of uncertain rigid bodies for multibody system dynamics. We first construct a stochastic model of an uncertain rigid body by replacing the mass, the center of mass and the tensor of inertia by random variables. The prior probability distributions of the stochastic model are constructed using the maximum entropy principle under the constraints defined by the available information. The generators of independent realizations corresponding to the prior probability distribution of these random quantities are further developed. Then, several uncertain rigid bodies can be linked to each other in order to calculate the random response of a multibody dynamical system. An application is proposed to illustrate the theoretical development

show abstract

On the impact of cargo weight, vehicle parameters, and terrain characteristics on the prediction of traction for off-road vehicles

Cited by 42 publications

References 17 publications

A Parametric study and experimental testing of lunar-wheel suspension on dynamic terrainability

A Parametric study and experimental testing of lunar-wheel suspension on dynamic terrainability

Dynamic computation of flexible multibody system with uncertain material properties

Rigid multibody system dynamics with uncertain rigid bodies

Contact Info

Product

Resources

About