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Direct shear behaviour of dry, granular soils for low normal stress with application to lightweight robotic vehicle modelling
MIT.
MIT.
2011 (English)In: Proceedings of the International Symposium of the International Society of Terrain-Vehicle Systems, 2011, Rwed Hook, NY: Curran Associates, Inc., 2011, p. 1-11Conference paper, Published paper (Refereed)
Abstract [en]

Modelling of soil shearing behaviour under wheeled or tracked vehicles requires the knowledge of three soil properties: cohesion, angle of internal friction, and shear modulus. For lightweight robots it is necessary to characterize the soil for small normal stress (<15kPa) while most of the data collected in the literature regards higher stress testing conditions. Soil failure at low stress may diverge from Mohr-Coulomb envelope invalidating the fundamental assumptions behind classical terramechanics approach. Through the analysis of direct shearing performance of a dry, granular, soil, this paper address several issues related to off-road traction mechanics (not necessarily limited to low stress cases). We present an improved approach for shear modulus calculation that overcome the inaccuracies introduced by Wong method. We analyze the importance of density in modifying terrain response. Moreover, we show how erroneous estimation of soil cohesion and angle of internal friction may limit the applicability of Bekker/Wong theory to lightweight tracked vehicles.

Place, publisher, year, edition, pages
Rwed Hook, NY: Curran Associates, Inc., 2011. p. 1-11
Keywords [en]
Direct shear test, Lightweight robot, Low stress, Mojave mars simulant, Shear modulus
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20850Scopus ID: 2-s2.0-84873371725ISBN: 978-161839598-6 OAI: oai:DiVA.org:hh-20850DiVA, id: diva2:586862
Conference
17th International Conference of the International Society for Terrain Vehicle Systems 2011, ISTVS 2011, Blacksburg, VA, USA, 18-22 November, 2011
Available from: 2013-01-13 Created: 2013-01-13 Last updated: 2018-03-22Bibliographically approved

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Iagnemma, Karl

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf