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Visualization and analysis of wheel camber angle effect for slope traversability using an in-wheel camera
Institution:1. Departamento de Física, Universidad de Burgos, C Villadiego s/n, E-09001 Burgos, Spain;2. Department of Physics, University of Antwerp (RUCA), 171 Groenenborgerlaan, B-2020 Antwerp, Belgium;3. Oxford University, Oxford, UK;4. Departamento de Física Teórica, Atómica y Óptica, Universidad de Valladolid, E-47011 Valladolid, Spain;1. Department of Electronic and Automation, Akören Ali Rıza Ercan Vocational School, Selçuk University, 42460 Konya, Turkey;2. Department of Agricultural Machineries and Tecnologies Engineering, Faculty of Agriculture, Selçuk University, 42130 Konya, Turkey;1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;2. State Key Lab of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;1. Kuban State Agrarian University, 13 Kalinin Street, 350044, Russia;2. South Ural State University, 76 Lenin Avenue, Chelyabinsk 454080, Russia;3. South Ural State Agrarian University, 13 Gagarina Street, Troitsk 457100, Russia;4. Belgorod State Agricultural University, 1 Vavilova Street, Mayskiy, Belgorod Region 308503, Russia;5. PRO FERRUM Limited Liability Company, 1st Krasnoarmeyskaya, 1, St. Petersburg 198005, Russia;6. Saint Petersburg State Forest Technical University named after S.M. Kirov, 5 Institutskiy per., St. Petersburg 194021, Russia;7. Novosibirsk State Agrarian University, 160 Dobrolyubova st., Novosibirsk 630039, Russia;8. Siberian Federal Scientific Center of Agro-BioTechnologes of the Russian Academy of Sciences, Krasnoobsk, Novosibirsk Region, Russia;9. Kurgan State Agricultural Academy by T S Maltsev, Village Lesnikovo, Ketovsky District, Kurgan Region 641300, Russia
Abstract:This paper visualizes and analyzes an effect of a wheel camber angle for the slope traversability in sandy terrain. An in-wheel camera developed in this work captures the wheel-soil contact phenomenon generated beneath the wheel through a transparent section of the wheel surface. The images taken by the camera are then analyzed using the particle image velocimetry. The soil flows with various wheel camber angles are analyzed with regard to the soil failure observed on the slope surface. The analysis reveals that the slope failure and soil accumulation in front of the wheel significantly affect the wheel forces and distributions of the wheel sinkage in the wheel width direction. Further, the side force of the wheel in traversing a slope decreases as the slip ratio increases because the shear stress in the slope downward direction decreases owing to the slope failure.
Keywords:Wheel-soil interaction  In-wheel camera  Wheel camber angle
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