CHAPTER 1 INTRODUCTION 1
- 1 General 1
- 2 Mechanics of Soft Terrain 2
- 2.1 Physical properties of soil 3
- 2.2 Compressive stress and deformation characteristics 6
- 2.3 Shear stress and deformation characteristics 8
- 3 Mechanics of Snow Covered Terrain 19
- 3.1 Physical properties of snow 19
- 3.2 Compressive stress and deformation characteristics 22
- 3.3 Shear stress and deformation characteristics 26
- 4 Summary 29
References 31
Exercises 33
CHAPTER 2 RIGIDWHEEL SYSTEMS 35
- 1 At Rest 36
- 1.1 Bearing capacity of weak terrain 36
- 1.2 Contact pressure distribution and amount of sinkage 36
- 2 At Driving State 39
- 2.1 Amount of slippage 39
- 2.2 Soil deformation 40
- 2.3 Force balances 45
- 2.4 Driving force 47
- 2.5 Compaction resistance 51
- 2.6 Effective driving force 53
- 2.7 Energy equilibrium 54
- 3 At Braking State 55
- 3.1 Amount of slippage 55
- 3.2 Soil deformation 56
- 3.3 Force balances 59
- 3.4 Braking force 61
- 3.5 Compaction resistance 65
- 3.6 Effective braking force 67
- 3.7 Energy equilibrium 67
- 4 Simulation Analysis 68
- 4.1 Driving state 70
- 4.2 Braking state 74
CHAPTER 3 FLEXIBLE-TIREWHEEL SYSTEMS 83
- 1 Tire Structure 84
- 2 Static Mechanical Characteristics 86
- 3 Dynamic Mechanical Properties 91
- 3.1 Hard terrain 91
- 3.2 Soft terrain 94
- 4 Kinematic Equations of a Wheel 109
- 5 Cornering Characteristics 112
- 6 Distribution of Contact Pressure 116
- 7 Summary 119
References 119
Exercises 120
CHAPTER 4 TERRAIN-TRACK SYSTEM CONSTANTS 123
- 1 Track Plate Loading Test 124
- 2 Track Plate Traction Test 124
- 3 Some Experimental Results 127
- 3.1 Effects of variation in grouser pitch-height ratio 127
- 3.2 Results for a decomposed granite sandy terrain 130
- 3.3 Studies on pavement road surfaces 131
- 3.4 Scale effects and the model-track-plate test 134
- 3.5 Snow covered terrain 144
- 4 Summary 145
References 146
Exercises 146
CHAPTER 5 LAND LOCOMOTION MECHANICS FOR 149
A RIGID-TRACKVEHICLE
- 1 Rest State Analysis 149
- 1.1 Bearing capacity of a terrain 149
- 1.2 Distribution of contact pressures and amounts of sinkage 150
(1) For the case where sf 0 ≥ H, sr0 ≥ H 152
(2) For the case where 0 ≤ sf 0 < H < sr0 153
(3) For the case where sf 0 > H > sr0 ≥ 0 154
(4) For the case where sf 0 < 0 < H < sr0 155
(5) For the case where sf 0 > H > 0 > sr0 156
- 2 Driving State Analysis 158
- 2.1 Amount of vehicle slippage 158
- 2.2 Force balance analysis 159
- 2.3 Thrust analysis 162
(1) Main part of track belt 163
(2) Contact part of front-idler 165
(3) Contact part of rear sprocket 166
- 2.4 Compaction resistance 167
- 2.5 Energy equilibrium equation 170
- 2.6 Effective driving force 171
- 3 Braking State Analysis 174
- 3.1 Amount of vehicle slippage 174
- 3.2 Force balance analysis 175
- 3.3 Drag 176
(1) Main part of track belt 176
(2) Contact part of the front-idler 180
(3) Part of rear sprocket 181
- 3.4 Compaction resistance 182
(1) For the case where 0 ≥ sf 0i ≤ sr0i 182
(2) For the case where sf 0i > sr0i > 0 183
(3) For the case where sf 0i < 0 < H < sr0i 183
(4) For the case where sf 0i > H > 0 > sr0i 183
- 3.5 Energy equilibrium analysis 183
- 3.6 Effective braking force 184
- 4 Experimental Validation 187
- 5 Analytical Example 197
- 5.1 Pavement road 197
- 5.2 Snow covered terrain 202
- 6 Summary 204
References 205
Exercises 206
CHAPTER 6 LAND LOCOMOTION MECHANICS OF 209
FLEXIBLE-TRACKVEHICLES
- 1 Force System and Energy Equilibrium Analysis 209
(1) During driving action 212
(2) During braking action 212
- 2 Flexible Deformation of a Track Belt 212
- 3 Simulation Analysis 215
- 3.1 At driving state 218
- 3.2 At braking state 221
- 4 Theory of Steering Motion 224
- 4.1 Thrust and steering ratio 228
- 4.2 Amount of slippage in turning motion 229
- 4.3 Turning resistance moment 231
- 4.4 Flow chart 232
- 5 Some Experimental Study Results 235
- 5.1 During self-propelling operation 235
- 5.2 During tractive operations 238
- 6 Analytical Example 238
- 6.1 Silty loam terrain 239
(1) Trafficability of a bulldozer running on soft terrain 239
(2) Size effect of vehicle 246
(3) Effect of initial track belt tension 249
کتاب جالب ترامکانیک (مکانیک ماشین های غیر جاده ای) Terramechanics
