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The Bekker Model Analysis for Small Robotic Vehicles
| 题名： | The Bekker Model Analysis for Small Robotic Vehicles |
| 作者： | Gerhart, Grant R.; |
| 关键词： | ROBOTICS |
| 摘要： | This paper uses the Bekker model for land locomotion analysis to compare ground vehicle vehicles with different running gear configurations. The Bekker model is inherently phenomenological in nature and requires empirical data to both calibrate and validate the methodology for realistic soil/terrain conditions. This formalism consists or two fundamental equations. The ii ret uses the Coulomb-Mohr law and a linear, one degree or freedom spring/mass/damper model to predict terrain shear rates from maximum vehicle tractive effort. The second empirically predicts soil sinkage as a function of ground pressure loading. The latter contains no phenomenological link to the continuum mechanics of terrain materials and conditions. |
| 总页数： | 10 |
| 报告类型： | 科技报告 |
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