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This paper presents a wheel–terrain interaction model that enables modeling of wheeled locomotion in soft soil and simulations of off-road mobile robots. The model is derived based on wheel kinematics and terramechanics, focusing on describing stress distributions and reaction forces at the wheel-terrain interface. It considers shear stresses under steered wheels and forces from wheel bulldozing. The influence of grousers is also modeled. The model can be integrated with multibody system simulations of vehi

Author

Damon

Language

EN