Terramechanics Land Locomotion Mechanics

Terramechanics is the broad study of terrain-vehicle systems. In this book, all physical processes associated with the static and dynamic interplay between powered and tooled wheeled or tracked vehicles with natural and man-made surfaces are analysed and mathematically modelled. The focus of the book is the technical problem of predicting the performance of a specific vehicle terrain system in the design and operation stages, looking at vehicle specifications, terrain types and uses, and traction performance parameters such as pull and speed. Special features of this book include: * a comprehensive treatment of pneumatic and flexible tyred systems * the presentation of a new method for predicting the performance of track-type vehicles based on small-scale machine model studies * an overview of tyred or tracked vehicles running on weak soil or snow.

1. Introduction: General; Mechanics of Soft Terrain; Mechanics of Snow Covered Terrain 2. Rigid Wheel Systems: At Rest; At Driving State; At Braking State; Simulation Analysis 3. Flexible-Tire Wheel Systems: Tire Structure; Static Mechanical Properties; Kinematic Equations of a Wheel; Cornering Characteristics; Distribution of Contact Pressure 4. Terrain-Track System Constants: Track Plate Loading Test; Track Plate Traction Test; Some Experimental Results 5. Land Locomotion Mechanics for a Rigid-Track Vehicle: Rest State Analysis; Driving State Analysis; Braking State Analysis; Experimental Validation; Analytical Example 6. Land Locomotion Mechanics of Flexible-Track Vehicles: Force System and Energy Equilibrium Analysis; Flexible Deformation of a Track Belt; Simulation Analysis; Theory of Steering Motion; Some Experimental Study Results; Analytical Example Index

Muro, T.; O'Brien, J.