TERRAMACHANICS ANALYSIS OF WHEEL WITH GROUSERS BASED ON EXTENDED RFT

摘要

In extreme environments such as space and disaster sites, it is difficult to rescue vehicles or mobile robots once they are stuck; therefore, it is important to evaluate the traveling performances of vehicles. In addition, the realization of realtime simulation is ideal under extreme environments because it is also difficult to obtain accurate information about the terrain in advance. So far, evaluations of vehicle traveling performances by multibody dynamics analysis using terramechanics theory have been carried out for high-speed operation. However, there are restrictions on applicable shapes and motions in conventional terramechanics analysis models. Therefore, in this study, terramechanics analyses models that adopt resistive force theory (RFT) are proposed, which can be applied to real-time simulation. In this study, first, we extended the RFT analysis model to describe the packing effect of the soil particle in order to apply RFT to rigid wheels with grousers. Then, the effectiveness of the proposed model is verified by comparing it with results obtained from model experiments.