On the prediction of drawbar pull-normal slip relationship for a pneumatic tyre moving on soft soil

The previously developed tribology model to deduce the longitudinal shear stress distribution along the tyre-soil interface is extended to predict the drawbar pull-normal slip relationship. The role of the static coefficient of friction and the shape of the shear stress distribution on the behaviour of the predicted drawbar pull-normal slip relationship is examined. The general agreement between the predicted and measured curves is shown.