Wheel rolling on deformable ground with slippage

Abstract

A characteristic feature of wheeled earth-moving machines and tractors is their operation on deformable soils. This makes it necessary to consider the features of the interaction of elastic wheels with the ground, including such issues as the depth of the track and power losses for rutting, wheel movement along the laid track, rolling with pull, forces and moments acting on the wheel, the effect of wheel parameters and rolling mode etc. When a pneumatic wheel with a high internal air pressure rolls on a deformable soil, the nature of the interaction of the wheels with the soil is such that the wheel can be considered rigid, since its normal deformation is small. This greatly simplifies the calculations associated with the analysis of the operation of wheeled machines taking into account the transforming properties of the wheeled propulsion unit, in particular, the determination of the kinematic and power parameters of the wheel. In this paper, using the motion reversal method, the picture of physical phenomena in the contact of the wheel with the ground has been considered, which made it possible to obtain relatively simple expressions for calculating the circumferential thrust force and the coefficient of tangential elasticity of the pair “wheel-deformable soil”.