LSA model for sinkage predictions

The paper presents a Load-Sinkage Analytical (LSA) model, its validation and comparison with other models used in Terramechanics. The LSA model predicts sinkage and penetration force as functions of soil parameters and plates (or traction devices) shape and dimensions. This model uses invariant soil parameters that can be given or measured before the calculations by routine methods of classical soil mechanics. Soil parameters can also be obtained by recommended empirical equations using four physical soil parameters measured in the field with hand held instruments without time consuming and costly plate tests. The paper includes also an analysis of capabilities and limitations of the observed models.