A piecewise bearing capacity method of unstructured terrain considering characteristics of soil mechanic and wheel geometry

Bearing capacity of the unstructured terrain considering the effects of the wheel geometry and soil mechanic properties is analyzed in this paper. Two-dimensional pressure-sinkage simulations are conducted to evaluate the degrees of similarity between the flat plate and wheel in terms of their ultimate bearing characteristics of Terzaghi theory. The results show that these degrees of similarity are mainly reflected in the soil in-depth direction and the corresponding failure behaviors. Based on the approximation of the ultimate bearing capacity between the wheel and flat plate, a piecewise bearing capacity evaluation method with the effects of the soil mechanic properties and three-dimensional wheel geometry is proposed. The pressure-sinkage values of the proposed model show a satisfactory agreement with the experimental ones. The proposed model performs better than the semi-empirical models, as it considers more soil bearing features and needs less fitting parameters to assess the unstructured terrain.     

Measurement and modeling for two-dimensional normal stress distribution of wheel on loose soil

On the Moon or Mars, typical target environments for exploration rovers are covered with fine sand, so their wheels easily slip on such weak ground. When wheel slippage occurs, it is hard for the rover to follow its desired route. In the worst case, the rover gets stuck in loose soil and cannot move anymore. To reduce the risk of the rover getting stuck, analysis of the contact mechanics between the soil and wheel is important. Various normal stress distribution models for under the wheel surface have been proposed so far. However, classical models assume a uniform stress distribution in the wheel’s width direction. In this study, we measured the two-dimensional normal stress distribution of a wheel in experiments. The results clarified that the stress distribution in the wheel’s width direction is a mountain-shape curve with a peak located at the center of the wheel. Based on the results, we constructed a stress distribution model for the wheel’s width direction. In this paper, we report our measurements for the two-dimensional stress distribution of a wheel on loose soil and introduce our stress distribution model for the wheel’s width direction based on our experimental results.     

Thawing soil strength measurements for predicting vehicle performance

The CRREL Instrumented Vehicle (CIV), shear annulus, direct shear and triaxial compression devices were used to characterize the strength of thawed and thawing soil. Strength was evaluated in terms of the Mohr-Coulomb failure parameters c′ and φ′, which can be used in simple models to predict the tractive performance of vehicles. Use of an instrumented wheel (like those of the CIV) is proposed for terrain strength characterization for traction prediction because the conditions created by a tire slipping on a soil surface are exactly duplicated. The c′ and φ′ values from a portable shear annulus overpredict traction because of the curved nature of the soil failure envelope in the region of low normal stress applied by a portable annulus. Of all the tests, the direct shear test yielded the highest φ′ value, due to its slow deformation rate and drained conditions. The triaxial test produced results closest to those of the instrumented wheel. For all methods, φ′ increases with soil moisture but decreases rapidly beyond the liquid limit of the soil. The φ′ measured with the vehicle was also found to be strongly influenced by the freeze-thaw layering of the soil.     

用离心模型试验研究花岗岩残积土边坡的破坏特性

推导了边坡坡体及锚固体的离心相似模型,得出了相关参数的相似比尺。通过试验得出了花岗岩风化残积土边坡可能以平面形式失稳也可能产生圆弧滑动,分析了含水量对破坏形式的影响。通过试验得出无控制性结构面的边坡的极限稳定高度与坡角的关系大致满足马斯洛夫方程。     

Steering forces on undriven, angled wheels

The steering forces at low speed and zero camber angle were measured on undriven, angled wheels using tyres with no tread. The forces were measured in a soil bin using a moist loam soil at different levels of compaction. It was found that the coefficient of side force relative to the wheel was related to slip angle by an exponential relationship. Coefficient of rolling resistance relative to the wheel was a linear function of slip angle in the region zero to 20° but was an irregular function of slip angle at higher angles. The effects of tyre size, load, inflation pressure and soil condition were modelled well using different versions of the tyre mobility number. The most successful version of mobility number was one which incorporated both soil cohesion and internal friction angle. The coefficients of the exponential and linear relationships mentioned above were predicted with varying degrees of success using mobility number.     

Steering forces on undriven tractor wheel

The steering forces on an undriven, angled wheel mounting a 6-16 8PR tire were measured on a wheel test carriage at zero camber angle and at 1.5 km/h forward speed in a soil bin with sandy clay loam soil. The lateral force developed was found to be a function of slip angle, normal load, and inflation pressure for a particular soil condition. An exponential relationship could estimate the coefficient of lateral force of the 6-16 tire. The coefficients of this equation were found to be linearly related to inflation pressure. Rolling resistance of the wheel tested was found to be a function of slip angle, normal load, and inflation pressure for the soil condition tested. A linear relationship existed between the rolling resistance and slip angle, where the coefficients were found to be a function of inflation pressure and normal load. The generalized equations developed in the present study for estimating coefficients of lateral force and rolling resistance by taking both the tire and operating parameters into account, were found to be reasonably good by looking at the high coefficient of determination between experimental and estimated values.     

Reaction Forces under Static Loading of a Wheel Pair with Camber

The static loading of a wheel pair with a deformable periphery is considered when the wheels are mounted on a common axle with a non-zero camber angle. A tire tread (protector) is modeled by a set of elastic rods interacting with the motion plane according to the dry friction law. The wheel camber effect on the slip in the contact zone and on the magnitude of reaction forces from the road is studied. An analog of the continuous model for a rod tread is discussed. The normal and tangential reaction forces are found depending on the vertical displacement of the center of the mechanical system under discussion.     

井工开采对露天矿高边坡稳定性影响的研究

以山西平朔安太堡矿露井联合开采为例,通过数值模拟及现场位移监测资料对比分析,探讨了露天矿高边坡在顺坡、逆坡及侧向切坡开采3种情况下的复合应力场和位移场的分布特征及规律。研究表明,边坡内井工开采不利于边坡稳定性,但由于工作面推进方向不同,边坡受采动影响部位的顺序不同,因而对边坡稳定性的影响存在一定的差异。逆坡开采时,随着工作面向坡内推进,边坡前、后期表现出两种完全不同类型的变形位移,前期以倾倒型崩塌破坏为主,后期稳定性有所增强; 顺坡开采时,边坡保安煤柱宽度不断减小,在侧向偏压作用下,边坡将产生沿软弱结构面的推动式剪切滑动; 边坡下切坡开采时,边坡除发生沿软弱结构面的推动式剪切滑动外,还可能发生后缘沿采空裂隙、下部沿软弱层面的张拉滑动变形。
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Design and development of a new transformable wheel used in amphibious all-terrain vehicles (A-ATV)

Conventional ground-wheeled vehicles usually have poor trafficability, low efficiency, a large amount of energy consumption and possible failure when driving on soft terrain. To solve this problem, this paper presents a new design of transformable wheels for use in an amphibious all-terrain vehicle. The wheel has two extreme working statuses: unfolded walking-wheel and folded rigid wheel. Furthermore, the kinematic characteristics of the transformable wheel were studied using a kinematic method. When the wheel is unfolded at walking-wheel status, the displacement, velocity and acceleration of the wheel with different slip rates were analyzed. The stress condition is studied by using a classic soil mechanics method when the transformable wheel is driven on soft terrain. The relationship among wheel traction, wheel parameters and soil deformation under the stress were obtained. The results show that both the wheel traction and trafficability can be improved by using the proposed transformable wheel. Finally, a finite element model is established based on the vehicle terramechanics, and the interaction result between the transformable wheel and elastic–plastic soil is simulated when the transformable wheel is driven at different unfold angles. The simulation results are consistent with the theoretical analysis, which verifies the applicability and effectiveness of the transformable wheel developed in this paper.     

爆破振动作用下含软弱夹层边坡稳定性及安全判据

运用FLAC3D软件建立了顺层台阶边坡数值模型,首先分析爆破振动作用下边坡的振速响应规律,然后通过边坡的位移、剪应变增量分析其稳定性,最后根据边坡稳定性判据,制定爆破振速安全阈值。研究表明,随着爆心距的增大,振速传播规律为近处衰减快、远处衰减慢,坡面存在高程放大效应,临空面中由于软弱夹层的阻隔影响,使得坡脚的振速最大;边坡的变形破坏受软弱夹层控制,其上覆岩体为潜在滑体,破裂面可以根据水平位移云图和塑性区分布图综合确定;边坡的破坏是一个渐进性的累积过程,位移和剪应变的累积会导致岩体的力学参数不断弱化,爆破振动劣化作用后仍有较大安全储备的边坡只会累积产生永久位移,而接近极限平衡状态的边坡将会失稳;当岩层倾角为15°~23°时,边坡振速安全阀值为21 cm/s;当软弱夹层剪出口距离坡顶高度为14 m,倾角分别为24°、29°、31°、34°时,安全阀值分别为10、8、6、5 cm/s。     

Soil flow analysis for grouser wheels based on a particle image velocimetry method

This paper presents an analysis, based on a particle image velocimetry method, of soil flow field beneath a grouser wheel traveling over loose soil. Although the grouser wheel is expected to have better traction and mobility over fine, loose soil, its interaction mechanisms with the soil remain to be elucidated. Thus, a particle image velocimetry-based soil flow analysis is conducted to directly observe soil behavior around the grouser wheel. In the experimental analysis, key parameters of the soil flow field, such as general shape, thickness, streamlines of the flow field, soil velocity on the streamlines, and soil failure angle are examined quantitatively. From the results, the soil flow shape periodically changes with wheel rotation, and this change appears, depending on wheel slip varying over time. Furthermore, the experimental result of the soil failure angle differs drastically from its typical theory. These results will contribute to modeling the mechanical interaction between the grouser wheel and soil.     

Experimental study on wheel-soil interaction mechanics using in-wheel sensor and particle image velocimetry Part I: Analysis and modeling of normal stress of lightweight wheeled vehicles

This study aims to develop a wheel-soil interaction model for a lightweight wheeled vehicle by measuring the normal stress distribution beneath the wheel. The main contribution of this work is to clarify the wheel-soil interaction using a wheel testbed that equips multiple sensory systems. An in-wheel sensor accurately measures the normal stress distribution as well as the contact angles of the wheel. Particle image velocimetry with a standard off-the-shelf camera analyzes soil flow beneath the wheel. The proposed model for the normal stress distribution is formulated based on these experimental data and takes into account the following phenomena for the lightweight vehicles that have not been considered in the classical model: (1) the normal stress distribution takes the form of a Gaussian curve; (2) the normal stress distribution concentrates in the front region of the wheel contact patch; (3) the distribution is divided into two areas with the boundary determined by the maximum normal stress angle; and (4) the maximum normal stress exponentially decreases as the slip ratio increases. Then, the proposed model is experimentally validated. Furthermore, a simulation study for the wheel driving characteristics using the proposed model confirms the accuracy of the proposed model.     

干态下车轮材料表面疲劳裂纹萌生试验研究

利用WR-1轮轨滚动磨损试验机,结合安定极限理论研究了干态下影响车轮材料表面疲劳裂纹萌生与扩展的因素,探究了表面疲劳损伤形成机理和演变规律.结果表明:随垂向力、横向力和冲角增大,表面疲劳裂纹越容易萌生扩展;冲角对表面疲劳裂纹的萌生与扩展起着重要作用,大冲角下斜线状表面疲劳裂纹萌生扩展明显;只有横向力而不存在冲角时,试样表面不会出现斜线状表面疲劳损伤;车轮试样在周期性循环载荷作用下在表面先形成塑性流动,然后沿轮轨表面切向力方向扩展成斜线状的表面疲劳起皮剥落损伤;垂向力是影响表面裂纹萌生时间的重要因素之一.     

Discrete element method analysis of single wheel performance for a small lunar rover on sloped terrain

The purpose of this study is to analyze the performance of a lugged wheel for a lunar micro rover on sloped terrain by a 2D discrete element method (DEM), which was initially developed for horizontal terrain. To confirm the applicability of DEM for sloped terrain locomotion, the relationships of slope angle with slip, wheel sinkage and wheel torque obtained by DEM, were compared with experimental results measured using a slope test bed consisting of a soil bin filled with lunar regolith simulant. Among the lug parameters investigated, a lugged wheel with rim diameter of 250 mm, width of 100 mm, lug height of 10 mm, lug thickness of 5 mm, and total lug number of 18 was found, on average, to perform excellently in terms of metrics, such as slope angle for 20% slip, power number for self-propelled point, power number for 15-degree slope and power number for 20% slip. The estimation of wheel performance over sloped lunar terrain showed an increase in wheel slip, and the possibility exists that the selected lugged wheel will not be able to move up a slope steeper than 20°.     

基于应力影响系数法的高边坡临界滑动面研究

为研究悬浮式中耳植入式助听装置中悬浮振子对中耳声传播特性的一些影响,建立了 包括绑定悬浮振子的中耳有限元模型. 该模型基于一无任何听力损伤病史的成年志愿者的 左耳,利用CT扫描和逆向成型技术建成. 模型的可靠性通过鼓膜及镫骨底板的位移计算结果 与国外文献实验测得数据进行对比加以验证. 研究结果表明:悬浮振子的绑定会显著恶化中耳 的高频传输特性;振子输出8.9\times10^5N的激振力才能激起100dB声压所 对应的激振效果;振子在砧骨长突上的绑定位置离砧镫关节越近,高频段激振效果越好.     

Tracking the free surface of time-dependent flows: image processing for the dam-break problem

The dam-break problem (i.e., the sudden release of a given volume of fluid down a slope) has attracted a great deal of attention from mechanicians and physicists over the past few years, with particular interest devoted to the free-surface profile and the spreading rate. Experimentally, impediments to accurate measurements of the free-surface evolution are numerous because of the significant variations in its curvature and velocity. To accurately measure the surge’s free-surface variations with time, we have developed a new imaging system, consisting of a digital camera coupled with a synchronized micro-mirror projector. The object’s surface is imaged into a camera and patterns are projected onto the surface under an angle of incidence that differs from the imaging direction. From the deformed pattern recorded by the camera, the phase can be extracted and, by using unwrapping algorithms, the height can be computed and the free surface reconstructed. We were able to measure the free surface of the flow to within 1 mm over a surface of 1.8 × 1.1 m². Although the techniques used in our system are not new when taken individually, the system in its entirety is innovative and more efficient than most methods used to-date in practical applications.     

Shape effects of wheel grousers on traction performance on sandy terrain

This paper presents the effects of different wheel grouser shapes on the traction performance of a grouser wheel traveling on sandy terrain. Grouser wheels are locomotion gears that allow small and lightweight exploration rovers to traverse on the loose sand on extraterrestrial surfaces. Although various grouser shapes have been analyzed by some research groups, a more synthetic and direct comparison of possible grousers is required for practical applications. In this study, we developed a single wheel testbed and experimentally investigated the effects of four grouser shapes (parallel, slanted, V-shaped, and offset V-shaped) on the traction performance of linear movement on flat sand. The wheel slip, sinkage, traction and side force acting on the wheel axle, the wheel driving torque, and the efficiency of each wheel were examined. Thereafter, the effects on the lateral slope traversability of a small and lightweight four-wheeled rover with different grouser shapes were also examined. The traversability experiment demonstrated the vehicle mobility performance in order to contribute to the design optimization of rover systems. These experimental results and their comparisons suggested that, of the shapes studies herein, the slanted shape was the optimal grouser design for use in wheeled rovers on lunar and planetary soil.     

Rotating laser scan method to measure the transient free-surface topography of small-scale debris flows

We present an imaging method aimed at measuring the transient three-dimensional topography of rapidly deforming opaque surfaces. The imaging setup features a laser stripe scanned repeatedly across the surface using a spinning wheel with mirror facets. Acquisition rates of 20 scans per second are attained by spinning the wheel rapidly and imaging the resulting stripes using a fast camera. The algorithms adopted to capture the stripes, reconstruct the surface topography for each scan, and calibrate the camera and laser configuration are described. Error estimates for successive steps are evaluated and compared to results from repeat and independent measurements of the final deposit shape. The method is then used to acquire time-resolved measurements of small-scale debris flows. Specifically, we measure the free-surface topography of debris surges as they flow across an idealized canyon–fan transition. In addition to profiling the final deposit shape, the method successfully resolves the transient evolution of the free surface. Applied to textured surfaces, the method can also be combined with particle tracking velocimetry.     

Development of in-wheel sensor system for accurate measurement of wheel terrain interaction characteristics

Planetary rovers need high mobility on a rough terrain such as sandy soil, because such a terrain often impedes the rover mobility and causes significant wheel slip. Therefore, the accurate estimation of wheel soil interaction characteristics is an important issue. Recent studies related to wheel soil interaction mechanics have revealed that the classical wheel model has not adequately addressed the actual interaction characteristics observed through experiments. This article proposes an in-wheel sensor system equipped with two sensory devices on the wheel surface: force sensors that directly measure the force distribution between the wheel and soil and light sensors that accurately detect the wheel soil surface boundary line. This sensor design enables the accurate measurement of wheel terrain interaction characteristics such as wheel force distribution, wheel–soil contact angles, and wheel sinkage when the powered wheel runs on loose sand. In this article, the development of the in-wheel sensor system is introduced along with its system diagram and sensor modules. The usefulness of the in-wheel sensor system is then experimentally evaluated via a single wheel test bench. The experimental results confirm that explicit differences can be observed between the classical wheel model and practical data measured by the in-wheel sensor system.     

Experimental validation of distinct element simulation for dynamic wheel–soil interaction

The deformation behaviour of the soil during dynamic wheel–soil interaction was studied by using the discontinuum modelling technique, distinct or discrete element method (DEM). The simulation model was developed using DEM for two types of soil, soil-A (coarse sand) and soil-B (medium sand). A transparent sided soil bin was used to observe the soil deformation. Three CCD video camera photographic images of the validation experiments were analyzed and compared with the simulation program results.This paper presents the simulation and validation results for two types of soil at three different vertical loadings of 4.9, 9.8 and 14.7 N. Wheel sinkage, vertical and horizontal draft force acting on the rigid wheel and the soil deformation images from the validation experiments were some of the data used to compare the simulation program results with the validation experiments. The simulation program was helpful to understand the complex deformation behaviour of the soils. The simulated results for the deformation behaviour of soil-B showed better correlation with the validation experiments than soil-A. The results obtained have also been compared with the previous work on DEM to explain phenomena such as the high simulated sinkage of the rigid wheel.