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Proceedings Paper

Off-road vehicle locomotion using Bekker's model
Author(s): Grant R. Gerhart; Sean C. Laughery; Richard C. Goetz
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Paper Abstract

Bekker's Derived Terramechanics Model (BDTM) is an analytical tool for evaluating vehicle off-road mobility. BDTM has been developed using Bekker's equations for vehicle soil interactions. He developed the bevameter technique to measure mechanical strength characteristics for many soil and snow conditions. BDTM is in a spreadsheet format, and its primary purpose is to compare mobility characteristics for robotic track and wheeled vehicles under different terrain conditions. Bekker's model is a simple, linear one degree-of-freedom (1-DOF) model, which assumes that in a perfectly cohesive soil (i.e. clay), soil thrust is only a function of contact surfacearea. The model also assumes that for a perfection cohesionless or frictional soil (i.e. dry sand), soil thrust is a function of vehicular weight. This paper attempts to compare the mobility characteristics of wheeled vs. track vehicles for different size, weight and terrain conditions.

Paper Details

Date Published: 10 July 2000
PDF: 10 pages
Proc. SPIE 4024, Unmanned Ground Vehicle Technology II, (10 July 2000); doi: 10.1117/12.391622
Show Author Affiliations
Grant R. Gerhart, U.S. Army Tank-Automotive Research Development and Engineering Ctr. (United States)
Sean C. Laughery, U.S. Army Tank-Automotive Research Development and Engineering Ctr. (United States)
Richard C. Goetz, U.S. Army Tank-Automotive Research Development and Engineering Ctr. (United States)


Published in SPIE Proceedings Vol. 4024:
Unmanned Ground Vehicle Technology II
Grant R. Gerhart; Robert W. Gunderson; Chuck M. Shoemaker, Editor(s)

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