Modified model for shear stress distribution using TRI-1 lunar soil simulant

• Autorzy: Jayalekshmi S. , Gireesh Kumar P.

Identyfikatory

DOI

10.15632/jtam-pl.56.1.137

• Języki publikacji: EN

Abstrakty

EN

In the present study, research is carried out on deriving modified analytical equations for finding shear stress distribution and known as Modified Shear Stress models (SSM) beneath plain wheels (small and large) on TRI-1 lunar soil simulant. In all four models, the Reece model, Bekker model, Wong-Reece model and Iagnemma model, normal stress and shear stress are determined, and the shear stress determination is based on the Janosi and Hanamoto (1961) model. There exists ample scope for modifying this model. A modified model for shear stress distribution is developed and the same is discussed in this paper.

Słowa kluczowe

EN

TRI-1; lunar soil simulant; modified model; shear stress distribution

• Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
• Czasopismo: Journal of Theoretical and Applied Mechanics
• Rocznik: 2018
• Tom: Vol. 56 nr 1
• Strony: 137--146
• Opis fizyczny: Bibliogr. 12 poz., rys., tab.

Twórcy

autor

Jayalekshmi S.

• Civil Engineering Department, National Institute of Technology, Tiruchirappalli, Tamil Nadu, India

autor

Gireesh Kumar P.

• Civil Engineering Department, National Institute of Technology, Tiruchirappalli, Tamil Nadu, India

Bibliografia

• 1. Bekker M.G., 1969, Introduction to Terrain-Vehicle Systems, Ann Arbor: University of Michigan Press
• 2. Ding L., Gao H., Deng Z., Nagatani K., Yoshida K., 2011, Experimental study and analysis on driving wheels’ performance for planetary exploration rovers moving indeformable soil, Journal of Terramechanics, 48, 27-45
• 3. Grand C., Ben Amar, Plumet F., Bidaud, 2002, Stability Control of a Wheel-Lugged MiniRover, University de Paris VI
• 4. Iagnemma K., Kang S., Shibly H., Dubowsky S., 2004), Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers, IEEE Transactions on Robotics, 20, 5, October
• 5. Ishigami G., Otsuki M., Kubota T., Iagnemma K., 2011, Modelling of flexible and rigid wheels for exploration rover on rough terrain, 28th International Symposium on Space Technology and Science, Okinawa, Japan, 5-12 June
• 6. Janosi Z., Hanamoto B., 1961, Analytical determination of drawbar pull as a function of slip for tracked vehicles in deformable soils, Proceedings of the 1st International conference on TerrainVehicle Systems, Turin, Italy, 707-736
• 7. Liu J., Gao H., Deng Z., 2008, Effect of straight grousers parameters on motion performance of small rigid wheel on loose sand, Information Technology Journal, 7, 8, 1125-1132
• 8. Sreenivasulu S., 2014, Development and Characterisation of TRI-1: an Engineered Lunar Soil Simulant and Studies on Wheel Soil Interaction, Ph.D. Thesis, Department of Civil Engineering, National Institute of Technology, Tiruchirappalli
• 9. Sutoh M., Yusa J., Nagatani K., Yoshida K., 2010, Travelling performance evaluation of planetary rovers on weak soil, Journal of Field Robotics, Sapporo, Japan
• 10. Wong J.Y., 2001, Theory of Ground Vehicles, 3rd ed., New York: Wiley-Interscience
• 11. Wong J.Y., Reece A,, 1967, Prediction on rigid wheel performance based on the analysis of soil-wheel stresses: Part 1. Performance of driven rigid wheels, Journal of Terramechanics, 4, 1, 81-98
• 12. Yoshida K., Hamano H., 2001, Motion Dynamics and Control of a Planetary Rover With SlipBased Traction Model Robotics, Laboratory in Tsukuba Space Center, NASDA, Japan

Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).