Terramechanics rig capabilities and illustrative applications of its use for the study of tires/wheels performance on ice and deformable soil

Abstract

Experimental testing is a crucial aspect of terramechanics. Due to the complexity of tire-terrain interactions, test data plays an imperative role in vehicle/tire performance benchmarking and gaining insights into the underlying physics. This paper provides a detailed discussion of the off-road tire testing rig at the Terramechanics, Multibody, and Vehicle Systems Laboratory at Virginia Tech. It is a full-scale, indoor, controlled quarter-car setup capable of testing tire traction, braking, and simulated cornering performance across various terrains, including rigid surfaces, multiple soil types, and ice. We first outline the concept and design considerations of the rig, focusing on components that ensure repeatability. This includes controllers for normal load and slip ratio, as well as the integration of clutch and brake systems. The rig can be used in conjunction with data acquisition and measurement systems capable of recording forces, moments, instantaneous sinkage, rut profiles, soil stresses, cone index, tire contact temperatures, and more. To demonstrate some of the capabilities of the rig, we present three illustrative test studies conducted on ice, sandy loam, and Lunar soil simulant. The terramechanics rig is shown to offer excellent testing control capabilities, versatile testing environments while ensuring reliable and repeatable results.