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首页> 外文会议>European-African Regional Conference of the Internatinal Society for Terrain Vehicle Systems >STRESS DISTRIBUTION ON THE SURFACE OF A DRIVING WHEEL ON SOFT SAND
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STRESS DISTRIBUTION ON THE SURFACE OF A DRIVING WHEEL ON SOFT SAND

机译：软砂上驱动轮表面的应力分布

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The performance of wheels on soft ground is an important issue for terramechanics. In order to improve the performance of a traveling device, mechanical analysis including deformation of the ground is required. The authors have discussed the performance of a driving wheel on loose sand under constrained sidewalls. The sand movement under the driving wheel was observed from the side using PIV with constant slip ratios. From this observation, it was found that sand movement is not uniform, and large and small flows occur repeatedly. Each time the wheel surface moved about half the length of contact with the sand, the sand surface lifted up, creating a corrugation behind the wheel. Five load cells were arranged in line in the center of the wheel surface, and the normal and shear stresses due to contact with sand were measured. However, the relationship between the change in stress on the wheel surface and the deformation of sand has not been sufficiently described. In this report, we try to clarify the change of stress on the wheel surface by comparing with the analysis result of the finite element method. In the past, it was thought that in sand particle fields the boundary where the difference in moving speed occurs would overlap the slip lines. However, it is better to consider that the occurrence of the velocity difference is instantaneous and does not necessarily coincide with the slip lines where the shear strain is largely accumulated. PIV can observe the moving velocity of particles, but cannot confirm the accumulation of shear strain, so it was compensated by the numerical analysis. A part of large shear strain arises from a certain depth under the wheel and propagates to the sand surface near where the wheel starts contact. The normal and shear stresses on the wheel surface tended to increase when the sand with large shear strain contacts the wheel surface.
机译：车轮对软土地力的性能是机器人学的重要问题。为了提高行驶装置的性能，需要包括地面变形的机械分析。作者讨论了在约束侧壁下松散沙子上的驱动轮的性能。使用具有恒定滑动比率的PIV从侧面观察驱动轮下方的砂运动。从这个观察开始，发现砂运动不均匀，并且重复发生大而小的流动。每次车轮表面都移动约一半与沙子的接触长度，砂表面抬起，在车轮后面造成波纹。在车轮表面的中心排列五个称重传感器，测量由于与砂接触的正常和剪切应力。然而，没有足够地描述了车轮表面上的应力变化与砂的变形之间的关系。在本报告中，我们试图通过与有限元方法的分析结果进行比较来阐明轮式表面的压力变化。过去，据认为是在砂粒子场中，移动速度发生差异的边界将与滑线重叠。然而，最好考虑速度差的发生是瞬时的，并且不一定与剪切应变在很大程度上积累的滑线一致。 PIV可以观察到颗粒的移动速度，但不能确认剪切应变的累积，因此通过数值分析得到补偿。大型剪切应变的一部分出现在车轮下方的某个深度并传播到靠近车轮启动接触的砂表面。当具有大剪切应变的砂件接触轮表面时，车轮表面上的正常和剪切应力倾向于增加。

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