This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
The Bekker Model Analysis for Small Robotic Vehicles
Technical Paper
2004-01-2642
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
This paper uses the Bekker model for land locomotion analysis to compare ground vehicle vehicles with different running gear configurations. The Bekker model is inherently phenomenological in nature and requires empirical data to both calibrate and validate the methodology for realistic soil/terrain conditions. This formalism consists of two fundamental equations. The first uses the Coulomb-Mohr law and a linear, one degree of freedom spring/mass/damper model to predict terrain shear rates from maximum vehicle tractive effort. The second empirically predicts soil sinkage as a function of ground pressure loading. The latter contains no phenomenological link to the continuum mechanics of terrain materials and conditions.
Recommended Content
Authors
Citation
Gerhart, G., "The Bekker Model Analysis for Small Robotic Vehicles," SAE Technical Paper 2004-01-2642, 2004, https://doi.org/10.4271/2004-01-2642.Also In
Advancements in Air Brake Systems, Truck Suspensions and Military Vehicle/Terrain Interface
Number: SP-1905; Published: 2004-10-26
Number: SP-1905; Published: 2004-10-26
References
- Bekker, M.G. 1960 Off-the-Road Locomotion University of Michigan Press USA
- Bekker, M.G. June 1955 “ Wheels or Tracks ” Automobile Engineer
- Whitlow R 1990 Basic Soil Mechanics 2nd Longman Group UK 207
- Wong, J.Y. 1989 Elsevier Science Publisher B.V., The Netherlands
- Bekker, M.G. Land Locomotion Research Report 13 1957 “Terrain Evaluation in Automotive Off-the-Road Operations” OTAC Detroit
- Bekker, M.G. 1969 Introduction to Terrain-Vehicle Systems University of Michigan Press USA
- Janosi, Z Hanamoto, B. 1961 Proc. Of the 1 st International Conference on the Mechanics of Soil-Vehicle Systems Edizioni Minerva Tecnica Torino, Italy