Wheel Traveling Characteristics with Grouser Angle Based on Sand Flow Analysis

Abstract

This paper elaborates on the experimental investigation on the traveling performance of a rigid wheel with a grouser attachment angle in loose soil. The experiments were carried out using the single wheel testbed, and we also conducted the PIV (particle image velocimetry) analysis to understand the dynamic soil flow field beneath the traveling wheel. The results showed no significant difference in the traveling performance, such as wheel slip, was observed for the change of the grouser attachment angle. On the other hand, from the results, the wheel slip, wheel sinkage, and slip line thickness are influenced by one another. The experimental analyses confirmed that the lower slip and sinkage are caused by the lower slip line thickness.