Topic
Terramechanics
About: Terramechanics is a research topic. Over the lifetime, 417 publications have been published within this topic receiving 5368 citations.
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TL;DR: Simulation and experimental results show that the terrain estimation algorithm can accurately and efficiently identify key terrain parameters for various soil types.
Abstract: Future planetary exploration missions will require wheeled mobile robots ("rovers") to traverse very rough terrain with limited human supervision. Wheel-terrain interaction plays a critical role in rough-terrain mobility. In this paper, an online estimation method that identifies key terrain parameters using on-board robot sensors is presented. These parameters can be used for traversability prediction or in a traction control algorithm to improve robot mobility and to plan safe action plans for autonomous systems. Terrain parameters are also valuable indicators of planetary surface soil composition. The algorithm relies on a simplified form of classical terramechanics equations and uses a linear-least squares method to compute terrain parameters in real time. Simulation and experimental results show that the terrain estimation algorithm can accurately and efficiently identify key terrain parameters for various soil types.
301 citations
Book•
01 Jan 1989
TL;DR: In this article, Bekker et al. used a finite element technique to predict the shear stress distribution under a track and the shape of the deflected track in a wheeled vehicle.
Abstract: Nomenclature. 1. Introduction. Role of terramechanics. Some basic issues in terramechanics. Approaches to terramechanics. 2. Measurement of Terrain Behavior. Cone penetrometer technique. Bevameter technique. 3. Characterization of the Response of Terrains to Normal and Repetitive Loadings. Response of mineral terrains. Response of muskegs. Response of snow covers. 4. Characterization of the Shearing Behavior of Terrains. Characterization of the shear stress-displacement relationships. Shearing behavior of various types of terrain. Behavior of terrain under repetitive shear loading. 5. Methods for Predicting and Evaluating Tracked Vehicle Performance. Empirical methods. Theoretical methods. Methods for parametric analysis. 6. Computer-Aided Methods for Evaluating Tracked Vehicle Performance. Approach to the prediction of normal pressure distribution under a track. The shape of the deflected track. Prediction of shear stress distribution under a track. Effects of shear stresses on the normal pressure distribution. Prediction of motion resistance and drawbar pull. Experimental substantiation. Comparison of predictions with experimental results. 7. Applications of the Computer-Aided Method to the Parametric Analysis of Tracked Vehicle Design and Performance. Effects of track system configuration on tractive performance. Effects on suspension characteristics on tractive performance. Effects of initial tack tension on tractive performance. Effects of vehicle weight on tractive performance. Effects of the location of the centre of gravity on tractive performance. Effects of vehicle ground clearance on tractive performance. Effects of sprocket location on tractive performance. Discussions. 8. Methods for Predicting and Evaluating Wheeled Vehicle Performance. Empirical methods. Theoretical methods. Semi-empirical methods developed by Bekker. 9. Developments in the Methods for Predicting the Performance of Tires and Wheeled Vehicles. Computer-aided method for evaluating the performance of tires. Computer-aided method for evaluating the performance of wheeled vehicles. Applications of the computer-aided method for parametric evaluation of wheeled vehicle performance. Applications of the finite element technique to tire modelling in the analysis of tire-terrain interaction. References. Index.
275 citations
TL;DR: The proposed wheel-and-vehicle model demonstrates better accuracy in predicting steering maneuvers as compared to the conventional kinematics-based model.
Abstract: This paper presents analytical models to investigate the steering maneuvers of planetary exploration rovers on loose soil. The models are based on wheel-soil interaction mechanics, or terramechanics, with which the traction and disturbance forces of a wheel are evaluated for various slip conditions. These traction forces are decomposed into the longitudinal and lateral directions of the wheel. The latter component, termed the side force has a major influence in characterizing the steering maneuvers of the rover. In this paper, the wheel-soil mechanics models are developed with particular attention to the side force and the validity of the model is confirmed by using a single-wheel test bed. The motion profile of the entire rover is numerically evaluated by incorporating the wheel-soil models into an articulated multibody model that describes the motion dynamics of the vehicle’s body and chassis. Steering maneuvers are investigated under different steering angles by using a four-wheel rover test bed on simulated lunar soil regolith simulant. The experimental results are compared with the simulation results using the corresponding model parameters. The proposed wheel-and-vehicle model demonstrates better accuracy in predicting steering maneuvers as compared to the conventional kinematics-based model. ©
267 citations
TL;DR: In this paper, a single-wheel testbed for wheels with different radii (135 and 157.35mm), widths (110 and 165mm), lug heights (0, 5, 10, and 15mm), numbers of lugs (30, 24, 15, and 8), and lug inclination angles (0°, 5°, 10°, and 20°) under different slip ratios (0.1, 0.2, 0., 0.3, 0, 0, 0.4, 0.6, etc.).
192 citations
Book•
24 Dec 2009
TL;DR: In this article, the principles of off-road vehicle and terrain engineering are discussed, as well as the latest developments in the field, including the latest computer-aided methods employed in the development of new generation of high-mobility offroad vehicles in Europe, North America and Asia.
Abstract: This book will be of great interest to any professional engineer or automotive engineering student working on off-road vehicles. Reflecting the increase in off-road vehicle production and development - recreational, agricultural, construction, military - this book equips readers with all of the necessary knowledge to successfully design and model off-road vehicle systems, and provides a comprehensive introduction to terramechanics, the mechanics of vehicle/terrain interaction. This is the only book to cover the principles of off-road vehicle and terrain engineering, a rapidly developing sector that includes SUVs, tractors and agricultural vehicles, military vehicles, and construction equipment. It covers the latest developments in the field, including the latest computer-aided methods employed in the development of new generation of high-mobility off-road vehicles in Europe, North America and Asia. This work is ideal for professional reference and course reference by students, with new detailed worked design examples, case studies, and accompanying problems and solutions.
186 citations