Precise prediction of traveling performance for a rigid wheel is examined by employing modified equations for estimating the distribution of ground contact stresses taking into consideration the effect of slippage. Prediction of drawbar pull or torque is achieved by a series of calculation, that is, sinkage by an empirical method, radial stress by a modified equation of the parabolic distribution model, tangential stress by an extended Janosi's model, and finally drawbar pull and torque are calculated by integrating these stresses. A few information is necessary in the prediction. The predicted results adequately agree with experimental results, so that proposed models have sufficient applicability in the practical sense.
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