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Modeling of a Pushed/Pulled Driven Wheel

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan

Citation:  Pp. 137-147 in Automation Technology for Off-Road Equipment, Proceedings of the July 26-27, 2002 Conference (Chicago, Illinois, USA)  701P0502.(doi:10.13031/2013.10001)
Authors:   A. Osetinsky and I. Shmulevich
Keywords:   Net traction, Gross traction, Off-road, Soil sinkage, Deformation, Slip, Moment

A comprehensive method for off-road pushed/pulled driven wheel modeling is presented, assuming that the soil-wheel contact surface is parabolic. A soil-wheel interaction model was developed, considering steady state and kinematic conditions. The method was verified by experimental data reported in the literature. Traction performance of a driven wheel can be predicted both for driving and braking modes. The model shows significant non-symmetry of the traction wheel performance for driving and braking modes. The braking force developed in braking mode is significantly greater than the traction force reached in driving mode. This method can serve as a comprehensive tool for predicting off-road vehicle performance.

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