沈下と排土抵抗の重ね合わせに基づく土質力学シミュレーション

抄録

A novel model of soil mechanics for dynamics simulations of field robots is proposed. The contact stress and the ground deformation are computed based on a hypothesis that the linear superposition of the subsidence and bulldozing resistance forces turns to the contact pressure. An explicit consideration of the two types of resistances enables to model the soil as a stress field and also to estimate the ground deformation from the horizontal sweep. Bekker's empirical formula is enhanced in order to compute the subsidence resistance force and the plasticity of soil, while the bulldozing resistance model is based on Coulomb's soil pressure theory.