The Bekker Model Analysis for Small Robotic Vehicles
TACOM RESEARCH DEVELOPMENT AND ENGINEERING CENTER WARREN MI
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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 soilterrain conditions. This formalism consists or two fundamental equations. The ii ret uses the Coulomb-Mohr law and a linear, one degree or freedom springmassdamper 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.
- Surface Transportation and Equipment
- Land and Riverine Navigation and Guidance
- Human Factors Engineering and Man Machine Systems