The Bekker Model Analysis for Small Robotic Vehicles

Format:

Conference/Event

Author/Creator:

Gerhart, Grant R., author.

Conference Name:

SAE Commercial Vehicle Engineering Congress & Exhibition (2004-10-26 : Rosemont, Illinois, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2004

Summary:

This paper uses the Bekker model for land locomotion analysis to compare ground vehicle vehicles with different running gear configurations. The Bekker model is inherently phenomenological in nature and requires empirical data to both calibrate and validate the methodology for realistic soil/terrain conditions. This formalism consists of two fundamental equations. The first uses the Coulomb-Mohr law and a linear, one degree of freedom spring/mass/damper model to predict terrain shear rates from maximum vehicle tractive effort. The second empirically predicts soil sinkage as a function of ground pressure loading. The latter contains no phenomenological link to the continuum mechanics of terrain materials and conditions

Notes:

Vendor supplied data

Publisher Number:

2004-01-2642

Access Restriction:

Restricted for use by site license