he modeling of the components of running gear-soil systems and their interactions for the simulation of running gear performance are discussed. A pneumatic tire-soil model is presented that uses Coulomb strength parameters for the modeling of soil behavior. Stresses in the soil are determined by numerical integration of the differential equations of plasticity. The tire is modeled by its centerline geometry and a limit pressure that is related to the inflation pressure. Examples of centerline geometries and pull performance curves are given.
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