Abstract
The mechanics of soil-vehicle system that was based on the deformable properties of the soil and the sliding friction on the contact surface, don't agree with the practically.
Equation(1) can not be applied on non-uniform soil, in addition, the constant Kc have not rati onality on such uniform soil as dry sand. The relations of p and Z change by the sinkage velociy of the plate, so that the travel performance of the vehicle would be affected by it's travel speed.
The relations of normal component (P) and tangential component (S) of soil reaction force don't simply accord with the relation of the sliding fricton on the case of the contact surface on the wheel. The factors that are concerned with that's relations are the acting position of reaction force (θ), the apparent frictional coefficient and the slip of the wheel.
