Coupled discrete element-particle analysis of single-wheel and four-wheel off-road vehicle on soft ground

Abstract

Conventional numerical studies on off-road vehicle performance typically focus on single wheel–soil interactions, overlooking the influence of multiple wheels in soft ground. This research introduces a novel continuous-discontinuous element method (CDEM) that couples discrete element models for both block and particle phases to analyze the behavior of a four-wheel off-road vehicle moving through soft soil. The full vehicle’s motion is considered. It examines how varying sinkage depths and different soil parameters-such as cohesion and friction-affect the vehicle’s forward resistance. The comprehensive analysis reveals key patterns in how soil properties and sinkage depth influence vehicle performance. This study offers valuable insights for improving off-road vehicle design and performance in challenging terrain conditions.