Terramechanics-based modeling of sinkage and moment for in-situ steering wheels of mobile robots on deformable terrain

Ding, Liang; Yang, Huaiguang; Gao, Haibo; Li, Ningxi; Deng, Zongquan; Guo, Jun; Li, Nan

doi:10.1016/j.mechmachtheory.2017.05.011

Cited by 26 publications

(13 citation statements)

References 20 publications

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“…Given these equations, the variation of the moment of turning resistance of a tracked vehicle can be calculated-together with its track slip and skid ratios-by substituting equations (5)-(8), (10) and (11), and (16) and (17) into equation (9). Note that the moment of turning resistance of track is a function of the track's slip and skid ratios-at some given soil and track parameters, such as track sprocket angular velocity ω o,i , sprocket radius r, track tread B, track length L, track width b, track normal stress σ, soil cohesion c, angle of soil internal shearing friction ϕ, and soil shear deformation k.…”

Section: Track Slip and Skid As Illustrated Inmentioning

confidence: 99%

“…By considering the effects of track sinkage and track slip and skid, the moments of turning resistance M o,i can be calculated as the resultant of two moments (Figure 2). One of these moments is M T(o,i) , which is calculated according to equation (9), and the other is the moment M d(o,i) , which is calculated according to equation (19). With these two moments, the resultant moments of turning resistance of a tracked vehicle are as follows:…”

Section: Moment Of Turning Resistancementioning

confidence: 99%

“…However, in weak agricultural terrain, such as a paddy field, the soil is too soft because of the inordinately high water content. Because of such soft soil, the tracks sink deeply into the ground, causing the tracks to shear and bulldoze the terrain beneath them, which in turn causes track sinkage and a subsequent large turning resistance [5][6][7][8][9]. Furthermore, vehicles turning on soft terrain usually have a reduced tuning ability from the large degree of track sliding, which is evident in the slip and skid of the outer and inner tracks, respectively [10,11].…”

Section: Introductionmentioning

confidence: 99%

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Theoretical Model for Prediction of Turning Resistance of Tracked Vehicle on Soft Terrain

Zhao

Tang

2020

Mathematical Problems in Engineering

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Skid-steered tracked vehicles are commonly used in soft agricultural terrain due to its low ground pressure between vehicle tracks and the ground. However, the sliding and sinkage of the track during a turning maneuver causes considerable turning resistance, which reduces the vehicle's turning ability. Therefore, we constructed a theoretical model that predicts the turning resistance of tracked vehicles—under steady-state conditions on soft terrain—accounting for track sinkage effects and track slip and skid. The results demonstrate that the moment of turning resistance decreases with increased track slip and skid ratio but increases with track sinkage depth. The model-predicted moments of turning resistance for the outer and inner tracks—at a given track sinkage depth and track slip and skid ratio—are in reasonably close agreement with available experimental data. This theoretical model can be employed as a predictor for testing the turning resistance of tracked vehicles operating on a wide range of soils.

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Section: Track Slip and Skid As Illustrated Inmentioning

confidence: 99%

Section: Moment Of Turning Resistancementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Theoretical Model for Prediction of Turning Resistance of Tracked Vehicle on Soft Terrain

Zhao

Tang

2020

Mathematical Problems in Engineering

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“…In an in-situ steering test (Ding et al, 2017), a steering moment was applied to a wheel that had been previously in static equilibrium, then the wheel started to rotate about its vertical axis at a constant yaw rate. Ding el al.…”

Section: Pressure-sinkage Models For Zero Slipmentioning

confidence: 99%

Review of terramechanics models and their applicability to real-time applications

Sandu

Khan

et al. 2019

Journal of Terramechanics

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ISTVS embarked on a project in 2016 that aims at updating the current ISTVS standards related to nomenclature, definitions, and measurement techniques for modelling, parameterizing, and, respectively, testing and validation of soft soil parameters and vehicle running gear-terrain interaction. As part of this project, a comprehensive literature review was conducted on the parameterization of fundamental terramechanics models. Soil parameters of the empirical models to assess off-road vehicle mobility, and parameters of the models to characterize the response of the terrain interacting with running gears or plates from the existing terramechanics literature and other researchers' reports were identified. This review documents and summarizes the modelling approaches that may be applicable to real-time applications of terramechanics in simulation, as well as in controller design.

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“…Ding et al's work on sinkage continued, with another paper published in 2017 [44] focusing on modeling sinkage using terramechanics as a basis, and also to determine the moment of in-situ steering wheels. Again, they looked at cases of deformable terrain.…”

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confidence: 99%

Development of Kinematic and Dynamic Models for the Argo J5 Rover

Austen¹

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Planetary exploration rovers are the most efficient means of off-world surface exploration. As mobile laboratories, they are used to perform various experiments and gather data semi-autonomously from remote extraterrestrial environments, both for planetary science and assessing conditions in preparation for human exploration. To accomplish the mission and access sites of scientific interest, the rover must be able to traverse various types of unstructured terrain without becoming embedded or succumbing to other hazards. Modelling of the rover is essential to understand how the rover interacts with its environment and how to select the best path. This thesis presents the development of three-dimensional kinematic and dynamic models, using MATLAB and SimMechanics, describing the Argo J5 four-wheel rover, in response to terrain elevation inputs and slip. The kinematic models describe the pose and velocity of the rover using the Denavit-Hartenberg convention, while the SimMechanics dynamic model is combined with a terramechanics model to develop accelerations and obtain the forces and torques, based on terrain properties. The kinematic analyses were performed for simulated traverses including cases of flat, inclined, side slope, and sinusoidal terrain, with varying amounts of slip in the velocity analysis. The results showed good agreement with expected trends and values for the joint displacements and rates, with the largest percent deviation for the distance travelled being approximately 0.4 %. The results of the combined dynamic and terramechanics model, incorporating slip, are limited to the conceptual development of the model due to time constraints, and are thus inconclusive at this time.iii

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Terramechanics-based modeling of sinkage and moment for in-situ steering wheels of mobile robots on deformable terrain

Cited by 26 publications

References 20 publications

Theoretical Model for Prediction of Turning Resistance of Tracked Vehicle on Soft Terrain

Theoretical Model for Prediction of Turning Resistance of Tracked Vehicle on Soft Terrain

Review of terramechanics models and their applicability to real-time applications

Development of Kinematic and Dynamic Models for the Argo J5 Rover

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