This report describes the results obtained so far which are divided into the following. three:
i) A wheel rolling resistance measuring device and the experimental results. The experimental apparatus used is explained and then the results of experiment are described. Thus, the various relations have been found between: (1) the resultant rolling resistance _??_ received by a wheel running on soft ground (S. G.) such as pulverulent substance, its vertical component
V and horizontal component
H, the direction θ, the coordinates (_??_, _??_) of the point
Q to which the force is applied, the driving torque of wheel
M, ect., on one hand; and (2) the breadth of wheel
b, the wheel diameter 2
r, the travelling velocity
v, the angular velocity ω, the sinking depth at the lowermost end of wheel
y0, the grain diameter of S. G. sample, the degree of moisture, etc., on the other hand.
ii) Takahashi's theoretical equations for the resultant wheel rolling resistance based on the experimental results.
The resultant rolling resistance of a wheel, _??_, consists of the wheel surface pressure from S. G.,
p=
kyn, and the frictional force ƒ=μ
p (Here,
y is sinking depth of wheel face into S. G.,
k and
n are the constants concerning S. G.; and μ is the coefficient of friction between wheel surface and S. G.) It is also found that the values of
R,
H,
V, θ,
Q (_??_, _??_), etc. generally differ between the two different cases of wheel rolling, i.e. when the wheel is pulled and the wheel is driven by its own power.
iii) Applications of the present studies and prospects to the future vehicles moving on themoon surface and the sea bottom.
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