In this work, an indoor soil bin traction measurement system is developed to systematically investigate the traction behavior of an off-road tire in interaction with granular terrain. The system is composed of a soil bin, a single wheel test device, a soil mixing/compaction device and its control and data acquisition system. Then the traction performance parameters such as the wheel traction force, sinkage, soil defor-mation and/or failure mechanism are obtained and investigated by using the system under different working conditions (tire slip, wheel load, tread pattern, granular medium). The experimental results show that the wheel traction force and sinkage present high linear correlation with the tire slip and wheel load. The wheel traction force and sinkage are also found to be directly influenced by the tire tread patterns and granular media. Moreover, with the increase of slip, the shear failure of the soil terrain behind and under the tire becomes more obvious, and the ruts become more blurred. The trend of shear failure mode of the granular terrain from local shear failure to overall failure is becoming ever more obvi-ous. However, under the same tire slip, the wheel loads (7663 N, 10163 N and 12663 N) have little effect on the failure mode of soil terrain. Finally, the experiments indicate that the trafficability of the off-road tires on the gravel terrain is better than that on the sand terrain. The traction performance of the groove tires under the same soil conditions is better than that of the smooth tires.(c) 2022 ISTVS. Published by Elsevier Ltd. All rights reserved.
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