The Bekker Model Analysis for Small Robotic Vehicles

Abstract

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 of two fundamental equations. The first uses the Coulomb-Mohr law and a linear, one degree of 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.

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Document Details

Document Type
Technical Report
Publication Date
Jul 29, 2004
Accession Number
ADA460159

Entities

People

  • Grant R. Gerhart

Organizations

  • Tank-automotive and Armaments Command

Tags

Communities of Interest

  • Autonomy
  • Cyber

DTIC Thesaurus Topics

  • Abstracts
  • Continuum Mechanics
  • Contractors
  • Contracts
  • Department Of Defense
  • Department Of State
  • Governments
  • Ground Vehicles
  • Information Operations
  • Information Security
  • Law
  • Regulations
  • Security
  • United States
  • Unmanned Vehicles
  • Vehicles

Fields of Study

  • Engineering

Readers

  • Computational Modeling and Simulation
  • Pavement Materials Engineering.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy