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 or two fundamental equations. The ii ret uses the Coulomb-Mohr law and a linear, one degree or 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
Oct 01, 2004
Accession Number
ADA460934

Entities

People

  • Grant R. Gerhart

Organizations

  • Tank-automotive and Armaments Command

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Combat Vehicles
  • Equations
  • Ground Vehicles
  • Mechanical Properties
  • Mechanics
  • Military Vehicles
  • Mission Profiles
  • Platforms
  • Resistance
  • Shear Stresses
  • Tracked Vehicles
  • Traction
  • Unmanned
  • Unmanned Ground Vehicles
  • Unmanned Systems
  • Unmanned Vehicles
  • Vehicles

Readers

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

Technology Areas

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