Automation and optimal design method of a wheeled vehicle operating over sloped weak sandy terrain
In this paper, a mathematical model of wheeled vehicle tractive or braking performance was developed and verified by experimental data. Then, various center of gravity and height of application force movement effects were analysed by simulation analysis. For a given set of vehicle dimensions and ter...
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| Published in | Automation in Construction Vol. 9; no. 3; pp. 277 - 297 |
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| Main Authors | , |
| Format | Journal Article Conference Proceeding |
| Language | English Japanese |
| Published |
Amsterdam
Elsevier B.V
01.05.2000
Elsevier BV Elsevier |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0926-5805 |
| DOI | 10.1016/S0926-5805(99)00042-4 |
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| Abstract | In this paper, a mathematical model of wheeled vehicle tractive or braking performance was developed and verified by experimental data. Then, various center of gravity and height of application force movement effects were analysed by simulation analysis. For a given set of vehicle dimensions and terrain wheel system constants, the simulation calculated effective tractive or braking effort and rear wheel sinkage, slip ratio or skid of a special designed wheeled robotic vehicle running over sloped weak sandy terrain for straight forward motion. For a 5.88 kN weight vehicle, the optimal eccentricity of center of gravity, the optimal application height and the maximum slope angle of terrain could be determined for rear-wheel drive (RWD), front-wheel drive (FWD), four-wheel drive (4WD) or rear-wheel brake (RWB), front-wheel brake (FWB), and four-wheel brake (4WB) travel systems. |
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| AbstractList | In this paper, a mathematical model of wheeled vehicle tractive or braking performance was developed and verified by experimental data. Then, various center of gravity and height of application force movement effects were analysed by simulation analysis. For a given set of vehicle dimensions and terrain wheel system constants, the simulation calculated effective tractive or braking effort and rear wheel sinkage, slip ratio or skid of a special designed wheeled robotic vehicle running over sloped weak sandy terrain for straight forward motion. For a 5.88 kN weight vehicle, the optimal eccentricity of center of gravity, the optimal application height and the maximum slope angle of terrain could be determined for rear-wheel drive (RWD), front-wheel drive (FWD), four-wheel drive (4WD) or rear-wheel brake (RWB), front-wheel brake (FWB), and four-wheel brake (4WB) travel systems. |
| Author | Muro, Tatsuro Shigematsu, Takahisa |
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| Cites_doi | 10.2208/jscej.1996.534_201 10.1016/B978-0-444-82044-0.50069-2 10.1016/0022-4898(93)90011-L 10.3208/sandf1972.33.2_91 10.1016/S0022-4898(97)00016-5 |
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| Keywords | Optimal eccentricity of center of gravity Maximum slope angle Optimal application height Wheeled robotic vehicle Wheel Experimental test Braking Road vehicle Slip Gravel road Sandy soil Robotics Optimal design Slope Dimensional analysis Center of mass Motion study Numerical simulation Mathematical model Application |
| Language | English Japanese |
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| References | Muro (BIB7) 1997; 34 Muro (BIB3) 1993; 30 T. Muro, K. Arai, R. Fukagawa, K. Tateyama, Recent Theory of Construction Engineering–Robotization and Systematization, Asakura Press, (1994), 84–117, (In Japanese). K. Watanabe, M. Kitano, A. Fujishima, Handling and stability evaluation of four-track steering vehicles considering traction force distribution control, Proceedings of the 5th North American ISTVS/Workshop, Saskatoon, Canada, (1995), 413–422. T. Muro, R. Fukagawa, Application height control system of a wheeled vehicle running on a loose sandy soil, Proceedings of the 11th International Symposium on Automation and Robotics in Construction, ISARC, Brighton, (1994), 495–502. T. Muro, Y. Hoshika, S. Kawahara, Optimum trafficability control system of a two-axle, two-wheel road roller during driving and braking action, Journal of Construction Management and Engineering, JSCE, No. 534/IV-30, (1996), 201–212, (In Japanese). Muro (BIB2) 1993; 33 10.1016/S0926-5805(99)00042-4_BIB1 Muro (10.1016/S0926-5805(99)00042-4_BIB3) 1993; 30 10.1016/S0926-5805(99)00042-4_BIB4 10.1016/S0926-5805(99)00042-4_BIB5 10.1016/S0926-5805(99)00042-4_BIB6 Muro (10.1016/S0926-5805(99)00042-4_BIB7) 1997; 34 Muro (10.1016/S0926-5805(99)00042-4_BIB2) 1993; 33 |
| References_xml | – volume: 34 start-page: 37 year: 1997 end-page: 55 ident: BIB7 article-title: Comparison of the traffic performance of a two-axle four wheel drive (4WD), rear drive (RWD) and front wheel drive (FWD) vehicle on loose sandy sloped terrain publication-title: Journal of Terramechanics – reference: K. Watanabe, M. Kitano, A. Fujishima, Handling and stability evaluation of four-track steering vehicles considering traction force distribution control, Proceedings of the 5th North American ISTVS/Workshop, Saskatoon, Canada, (1995), 413–422. – volume: 30 start-page: 351 year: 1993 end-page: 369 ident: BIB3 article-title: Tractive performance of a driven rigid wheel on soft ground based on the analysis of soil–wheel interaction publication-title: Journal of Terramechanics – reference: T. Muro, K. Arai, R. Fukagawa, K. Tateyama, Recent Theory of Construction Engineering–Robotization and Systematization, Asakura Press, (1994), 84–117, (In Japanese). – volume: 33 start-page: 91 year: 1993 end-page: 104 ident: BIB2 article-title: Braking performance of a towed rigid wheel on a soft ground based on the analysis of soil compaction publication-title: Soils and Foundations – reference: T. Muro, R. Fukagawa, Application height control system of a wheeled vehicle running on a loose sandy soil, Proceedings of the 11th International Symposium on Automation and Robotics in Construction, ISARC, Brighton, (1994), 495–502. – reference: T. Muro, Y. Hoshika, S. Kawahara, Optimum trafficability control system of a two-axle, two-wheel road roller during driving and braking action, Journal of Construction Management and Engineering, JSCE, No. 534/IV-30, (1996), 201–212, (In Japanese). – ident: 10.1016/S0926-5805(99)00042-4_BIB6 doi: 10.2208/jscej.1996.534_201 – ident: 10.1016/S0926-5805(99)00042-4_BIB4 – ident: 10.1016/S0926-5805(99)00042-4_BIB1 – ident: 10.1016/S0926-5805(99)00042-4_BIB5 doi: 10.1016/B978-0-444-82044-0.50069-2 – volume: 30 start-page: 351 issue: 5 year: 1993 ident: 10.1016/S0926-5805(99)00042-4_BIB3 article-title: Tractive performance of a driven rigid wheel on soft ground based on the analysis of soil–wheel interaction publication-title: Journal of Terramechanics doi: 10.1016/0022-4898(93)90011-L – volume: 33 start-page: 91 issue: 2 year: 1993 ident: 10.1016/S0926-5805(99)00042-4_BIB2 article-title: Braking performance of a towed rigid wheel on a soft ground based on the analysis of soil compaction publication-title: Soils and Foundations doi: 10.3208/sandf1972.33.2_91 – volume: 34 start-page: 37 issue: 1 year: 1997 ident: 10.1016/S0926-5805(99)00042-4_BIB7 article-title: Comparison of the traffic performance of a two-axle four wheel drive (4WD), rear drive (RWD) and front wheel drive (FWD) vehicle on loose sandy sloped terrain publication-title: Journal of Terramechanics doi: 10.1016/S0022-4898(97)00016-5 |
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| SubjectTerms | Applied sciences Exact sciences and technology Ground, air and sea transportation, marine construction Maximum slope angle Optimal application height Optimal eccentricity of center of gravity Road transportation and traffic Wheeled robotic vehicle |
| Title | Automation and optimal design method of a wheeled vehicle operating over sloped weak sandy terrain |
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