Chapter
Apr 26, 2012
Micromechanical Modeling of the Interaction of a Soil-Rigid Wheel System
Publication: Earth & Space 2006: Engineering, Construction, and Operations in Challenging Environment
Abstract
Wheeled mobile robots are required to negotiate various types of terrain during planetary exploration missions. The associated mobility is a direct function of the wheel—terrain interactions especially in rough landscapes. This paper presents preliminary results of an ongoing study of the interaction of a rigid wheel of a robot with deformable terrains based on a micro-mechanical modeling of the underlying soil. Analyses were conducted under 1 g as well as 0.375 g to compare Earth and Martian gravitational conditions. The performed simulations provided an insight into the patterns of soil-wheel interaction. The stress distribution as well as particle movement beneath the driven rigid wheel showed a response heavily dependent on the gravity level. These simulations also furnished valuable formation on wheel sinkage in terrain.
Get full access to this chapter
View all available purchase options and get full access to this chapter.
Information & Authors
Information
Published In
Copyright
© 2006 American Society of Civil Engineers.
History
Published online: Apr 26, 2012
Permissions
Request permissions for this article.
Authors
Affiliations
Department of Civil and Environmental Engineering, School of Engineering, Rensselaer Polytechnic Institute, 110 8th St., Troy, NY 12180-3590;. E-mail: [email protected]
Department of Civil and Environmental Engineering, School of Engineering, Rensselaer Polytechnic Institute, 110 8th St., Troy, NY 12180-3590;. E-mail: [email protected]
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.
Cited by
View Options
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Get Access
Access content
Please select your options to get access
Log in/Register
Log in via your institution (Shibboleth)
ASCE Members:
Please log in to see member pricing
Purchase
Save for later Item saved, go to cart Information on ASCE Library Cards
ASCE Library Cards let you download journal articles, proceedings papers, and available book chapters across the entire ASCE Library platform. ASCE Library Cards remain active for 24 months or until all downloads are used. Note: This content will be debited as one download at time of checkout.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.
Terms of Use: ASCE Library Cards are for individual, personal use only. Reselling, republishing, or forwarding the materials to libraries or reading rooms is prohibited.