Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions

doi:10.3390/s24061779

CORC > 深海科学与工程研究所 > 中国科学院深海科学与工程研究所 > 深海工程技术部 > 深海资源开发研究室

	Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions
	Rauf, Omer 1,2; Ning, Yang 2; Ming, Chen 2; Ma, Haoxiang 2
刊名	SENSORS
	2024-03-01
卷号	24 期号:6 页码:30
关键词	terramechanics rubber-tracked vehicle ground pressure soil bin simulation analysis bearing capacity pressure-sinkage
DOI	10.3390/s24061779
英文摘要	Trafficability gives tracked vehicles adaptability, stability, and propulsion for various purposes, including deep-sea research in rough terrain. Terrain characteristics affect tracked vehicle mobility. This paper investigates the soil mechanical interaction dynamics between rubber-tracked vehicles and sedimental soils through controlled laboratory-simulated experiments. Focusing on Bentonite and Diatom sedimental soils, which possess distinct shear properties from typical land soils, the study employs innovative user-written subroutines to characterize mechanical models linked to the RecurDyn simulation environment. The experiment is centered around a dual-tracked crawler, which in itself represents a fully independent vehicle. A new three-dimensional multi-body dynamic simulation model of the tracked vehicle is developed, integrating the moist terrain's mechanical model. Simulations assess the vehicle's trafficability and performance, revealing optimal slip ratios for maximum traction force. Additionally, a mathematical model evaluates the vehicle's tractive trafficability based on slip ratio and primary design parameters. The study offers valuable insights and a practical simulation modeling approach for assessing trafficability, predicting locomotion, optimizing design, and controlling the motion of tracked vehicles across diverse moist terrain conditions. The focus is on the critical factors influencing the mobility of tracked vehicles, precisely the sinkage speed and its relationship with pressure. The study introduces a rubber-tracked vehicle, pressure, and moisture sensors to monitor pressure sinkage and moisture, evaluating cohesive soils (Bentonite/Diatom) in combination with sand and gravel mixtures. Findings reveal that higher moisture content in Bentonite correlates with increased track slippage and sinkage, contrasting with Diatom's notable compaction and sinkage characteristics. This research enhances precision in terrain assessment, improves tracked vehicle design, and advances terrain mechanics comprehension for off-road exploration, offering valuable insights for vehicle design practices and exploration endeavors.
资助项目	Special Fund from China Merchant Industry (CMI)
WOS关键词	HYDRAULIC CONDUCTIVITY ; DYNAMIC SIMULATION ; SOIL ; MODEL ; SYSTEM ; MICROSTRUCTURE ; COMPACTION ; WHEELS ; AREA
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	MDPI
WOS记录号	WOS:001192450400001
资助机构	Special Fund from China Merchant Industry (CMI)
内容类型	期刊论文
源URL	[http://ir.idsse.ac.cn/handle/183446/10965]
专题	深海工程技术部_深海资源开发研究室
通讯作者	Ning, Yang
作者单位	1.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Deep Sea Sci & Engn, Sanya 572000, Peoples R China
推荐引用方式 GB/T 7714	Rauf, Omer,Ning, Yang,Ming, Chen,et al. Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions[J]. SENSORS,2024,24(6):30.
APA	Rauf, Omer,Ning, Yang,Ming, Chen,&Ma, Haoxiang.(2024).Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions.SENSORS,24(6),30.
MLA	Rauf, Omer,et al."Evaluation of Ground Pressure, Bearing Capacity, and Sinkage in Rigid-Flexible Tracked Vehicles on Characterized Terrain in Laboratory Conditions".SENSORS 24.6(2024):30.