3 軸応力センサ内蔵型車輪を用いた車輪接触力学分布モデルの実験的検証

抄録

A mobility analysis of off-road vehicle running on sandy terrain has been well investigated in Terramechanics, in which stress distribution generated around the wheel-terrain contact patch is a fundamental model to calculate wheel traction performance. However, classical models have mainly focused on heavy-weight vehicle and they have not been well verified whether these models are directly applicable to lightweight vehicles. This paper presents an experimental measurement of a stress distribution of a rigid wheel on sandy terrain. In this work, an in-wheel sensor that is capable of measuring normal and shear stresses is developed. The wheel stress distribution is then measured under different slip ratio controlled by a single wheel test bench. Here, the particle image velocimetry is also employed to capture a sand flow at the wheel-sand contact patch. The experimental results have revealed that the classical model would not be suitable for a lightweight wheel in certain slip conditions.