Journal of Terramechanics最新文献

Development and evaluation of a mobile tire testing device for rolling resistance under varying speed, load, and cone index 移动轮胎在不同速度、载荷和锥度下滚动阻力测试装置的研制与评价

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2026-07-01 Epub Date: 2026-02-12 DOI: 10.1016/j.jterra.2026.101118

Pankaj Malkani , Tapan K Khura , Indra Mani , H.L. Kushwaha , Atish Sagar , Ankur Srivastava , K.R. Asha , Manojit Chowdhury , Dharmender

{"title":"Development and evaluation of a mobile tire testing device for rolling resistance under varying speed, load, and cone index","authors":"Pankaj Malkani , Tapan K Khura , Indra Mani , H.L. Kushwaha , Atish Sagar , Ankur Srivastava , K.R. Asha , Manojit Chowdhury , Dharmender","doi":"10.1016/j.jterra.2026.101118","DOIUrl":"10.1016/j.jterra.2026.101118","url":null,"abstract":"<div><div>The increasing use of small- to medium-sized tires in off-road equipment exposes a limitation in existing tire testing protocols designed mainly for larger tires. A Mobile Tire Testing Device (MTTD) was developed that evaluates rolling resistance under controlled soil-bin testing environments. It investigates how forward velocity at 1, 2 and 3 km/h together with vertical load at 885, 1275, 1766 and 2060 N and cone index of 600, 1000 and 1400 kPa affect rolling resistance. Forward speed was adjusted using motor frequency control and gear shifting, while soil conditions were modified through tillage and controlled weight addition. The results demonstrated that rolling resistance increased substantially with increasing load. At a fixed cone index of 600 kPa, rolling resistance increased from 61.3 N at 885 N to 167.2 N at 2060 N, whereas at a higher cone index of 1400 kPa it ranged from 48.5 N to 137.4 N over the same load range. Forward speed produced changes that remained within measurement uncertainty and were therefore not physically meaningful. This study fills an essential testing requirement for tires with diameters under 70 cm and widths under 50 cm by developing a functional testing system to boost tire performance and operational effectiveness in agricultural and construction equipment.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"123 ","pages":"Article 101118"},"PeriodicalIF":3.7,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146193054","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Evaluating and advancing scaling methods for reliable wheel mobility prediction in low-gravity environments 评估和推进低重力环境下可靠车轮移动预测的尺度方法

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2026-04-01 Epub Date: 2025-11-26 DOI: 10.1016/j.jterra.2025.101104

Takuya Omura, Genya Ishigami

{"title":"Evaluating and advancing scaling methods for reliable wheel mobility prediction in low-gravity environments","authors":"Takuya Omura, Genya Ishigami","doi":"10.1016/j.jterra.2025.101104","DOIUrl":"10.1016/j.jterra.2025.101104","url":null,"abstract":"<div><div>Predicting wheel mobility in low-gravity environments through Earth-based gravity tests offers a practical alternative to expensive parabolic flights and computationally intensive numerical simulations. However, an optimal scaling method for varying wheel speeds remains unidentified. This study systematically evaluated three scaling methods — Granular Scaling Laws (GSL), reduced-weight tests, and equal-mass tests — using Discrete Element Method simulations at three wheel angular velocities (<span><math><mrow><mi>π</mi><mo>/</mo><mn>10</mn></mrow></math></span>, <span><math><mi>π</mi></math></span>, and <span><math><mrow><mn>2</mn><mi>π</mi></mrow></math></span> rad/s). The methods were assessed based on their accuracy in predicting horizontal velocity, slip ratio, sinkage, and power consumption under free-driving conditions. GSL maintained errors below 5% across all conditions, while the equal-mass test showed velocity-dependent degradation with errors reaching 234% at high speeds. The reduced-weight test underestimated sinkage by over 100%, risking vehicle immobilization. An analytical framework employing an inertial number was developed to quantify soil flow characteristics, facilitating a comprehensive comparative analysis of the scaling methods. This analysis revealed that the equal-mass test inadequately captured dynamic flow phenomena, accounting for its velocity-dependent degradation. Conversely, GSL accurately reproduced soil flow characteristics under all conditions, enabling precise mobility predictions over a broad velocity range. These findings establish GSL as the most accurate and practical scaling approach for extraterrestrial rover mobility design and analysis.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"122 ","pages":"Article 101104"},"PeriodicalIF":3.7,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145600397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Terramechanics rig capabilities and illustrative applications of its use for the study of tires/wheels performance on ice and deformable soil 地形力学钻机能力及其在冰面和可变形土壤上轮胎/车轮性能研究中的应用实例

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2026-04-01 Epub Date: 2025-12-25 DOI: 10.1016/j.jterra.2025.101106

Varsha S. Swamy, Nikhil Ravichandran, Dhruvin Jasoliya, Alexandru Vilsan, Corina Sandu

{"title":"Terramechanics rig capabilities and illustrative applications of its use for the study of tires/wheels performance on ice and deformable soil","authors":"Varsha S. Swamy, Nikhil Ravichandran, Dhruvin Jasoliya, Alexandru Vilsan, Corina Sandu","doi":"10.1016/j.jterra.2025.101106","DOIUrl":"10.1016/j.jterra.2025.101106","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"122 ","pages":"Article 101106"},"PeriodicalIF":3.7,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840002","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Innovating Mobility: A Student Competition in Wheel and Track Design 创新机动性：车轮与轨道设计学生竞赛

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2026-04-01 Epub Date: 2025-12-31 DOI: 10.1016/j.jterra.2025.101117

Devin Chen , Chaitanya Shekhar Sonalkar , Riku Kikuta , Andries Peenze , Varsha S. Swamy , J. Ethan Salmon , Bohumir Jelinek , George L. Mason , P. Schalk Els , Corina Sandu

{"title":"Innovating Mobility: A Student Competition in Wheel and Track Design","authors":"Devin Chen , Chaitanya Shekhar Sonalkar , Riku Kikuta , Andries Peenze , Varsha S. Swamy , J. Ethan Salmon , Bohumir Jelinek , George L. Mason , P. Schalk Els , Corina Sandu","doi":"10.1016/j.jterra.2025.101117","DOIUrl":"10.1016/j.jterra.2025.101117","url":null,"abstract":"<div><div>In this paper, we propose an ISTVS Wheel/Track Design Student Competition to engage students in terramechanics through hands-on experience in off-road mobility design and testing. The competition will challenge student teams to design and fabricate a wheel or track system for a small unmanned ground vehicle (UGV), evaluated through tractive performance and mobility tests on selected soil types. By emphasizing low-cost, practical methods, the initiative ensures accessibility for students from diverse backgrounds. Teams can use free CAD software, 3D printing, or other rapid prototyping techniques to minimize expenses. The competition will feature two main components: a laboratory-style single-wheel test rig to assess tractive performance, and a small UGV platform for field-based mobility tests. Performance metrics may include drawbar pull, sinkage, slip, traction, and slope climbing, following ISTVS standards (<span><span>He et al., 2020</span></span>). Each competition will include design presentations and structured scoring criteria evaluating both design quality and performance. A standardized test matrix will assess structural integrity and functional performance. This initiative provides experiential learning opportunities, encourages innovation, and strengthens student engagement with ISTVS—cultivating the next generation of terramechanics engineers.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"122 ","pages":"Article 101117"},"PeriodicalIF":3.7,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145884211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Research status and development trends of walking wheels 行走轮的研究现状及发展趋势

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2026-04-01 Epub Date: 2025-12-09 DOI: 10.1016/j.jterra.2025.101103

Dianlei Han , Lizhi Ren , Changwei Li , Hairui Liu , Jinrui Hu , Yongyun Zhu

{"title":"Research status and development trends of walking wheels","authors":"Dianlei Han , Lizhi Ren , Changwei Li , Hairui Liu , Jinrui Hu , Yongyun Zhu","doi":"10.1016/j.jterra.2025.101103","DOIUrl":"10.1016/j.jterra.2025.101103","url":null,"abstract":"<div><div>As a new type of walking device for complex terrain that breaks through the limitations of common travel device, the walking wheel has significant application potential in the fields of resource development and agricultural production. It noted the development of the walking wheel from the original exploration to the institutional simulation to the motion simulation. In addition, it outlines relevant theoretical contents related to walking wheels, including traction efficiency, traction force, passability, the mechanical model of wheel-terrain interaction, and analysis of movement mechanisms. The analysis found that the current walking wheel also has problems such as sliding, high impact vibration, inadequate traction performance, poor smoothness and weak carrying capacity, leading to fewer applications in actual production. Based on this, the paper proposes a bionic engineering optimization path: by drawing on the excellent environmental adaptation mechanisms of organisms, and clarifies that future research should focus on three key directions: rigid-flexible coupled assembly, bionic structural design, and bionic material selection. This research provides a clear technical direction and theoretical support for the subsequent research and development of complex terrain walking devices. It provides a theoretical reference for the interaction between walking wheels and complex terrains in the field of terramechanics.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"122 ","pages":"Article 101103"},"PeriodicalIF":3.7,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145737136","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Ride comfort optimization with handling constraints over rough terrain 乘坐舒适性优化与处理限制在崎岖的地形

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2026-04-01 Epub Date: 2025-12-02 DOI: 10.1016/j.jterra.2025.101105

Arslan Mahmood, Cor-Jacques Kat, P. Schalk Els

引用次数: 0

Developing turning motion of push-rolling robot for zigzag climbing on loose soil 开发推滚机器人在松散土壤上之字形爬坡的转弯运动

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2026-04-01 Epub Date: 2026-01-07 DOI: 10.1016/j.jterra.2025.101116

Daisuke Fujiwara , Kojiro Iizuka

{"title":"Developing turning motion of push-rolling robot for zigzag climbing on loose soil","authors":"Daisuke Fujiwara , Kojiro Iizuka","doi":"10.1016/j.jterra.2025.101116","DOIUrl":"10.1016/j.jterra.2025.101116","url":null,"abstract":"<div><div>Wheeled robots can utilize the shear forces generated by locked wheels to improve climbing performance on loose soil. A representative example is the push-rolling robot. However, the previous studies have primarily addressed locomotion in the longitudinal direction. Flexible turning on loose soil with steep slopes can contribute to zigzag climbing, thereby reducing the effective slope angles. Nevertheless, turning mechanisms that employ telescopic motion in diagonal directions have not yet been developed, and the characteristics of turning and zigzag locomotion under such conditions remain unclear. The purpose of this study is to develop a turning mechanism with telescopic motion in diagonal directions and evaluate the traveling performance during zigzag climbing by push-rolling. To develop the turning motion, this study first investigates the effect of slip angles and slip ratios on the driving and resistive forces of a wheel. Then, the turning experiments using the testbed robot were conducted. The experiments indicated that an appropriate range of slip angles enables stable turning with low slippage. Finally, the proposed mechanism is demonstrated to achieve zigzag locomotion on the loose soil with steep slopes.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"122 ","pages":"Article 101116"},"PeriodicalIF":3.7,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145925073","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Numerical investigation of snow–rubber interaction and snow milling using a smoothed particle hydrodynamics approach 基于光滑颗粒流体力学方法的雪-橡胶相互作用和雪磨数值研究

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2026-01-01 Epub Date: 2025-11-08 DOI: 10.1016/j.jterra.2025.101101

Yogesh Surkutwar , Corina Sandu , Costin Untaroiu

{"title":"Numerical investigation of snow–rubber interaction and snow milling using a smoothed particle hydrodynamics approach","authors":"Yogesh Surkutwar , Corina Sandu , Costin Untaroiu","doi":"10.1016/j.jterra.2025.101101","DOIUrl":"10.1016/j.jterra.2025.101101","url":null,"abstract":"<div><div>Accurate modeling of snow-rubber interactions is essential for evaluating winter tire performance in numerical studies. The reliability of these simulations depends on precise material modeling of both snow and rubber, as well as the accuracy of the modelling methods. While rubber material models are well-studied, research on compacted snow, particularly at a density of 500 kg/m<sup>3</sup>, is limited. In this study, a Crushable Foam(CF) material model is evaluated against the Drucker–Prager Cap (DPC) model, previously applied to compacted snow. While the CF model provides a new perspective, the DPC model achieves stronger agreement with experiments and is therefore adopted for subsequent simulations. Smoothed Particle Hydrodynamics (SPH) and a hybrid SPH–FEM approaches are assessed to overcome the limitations of conventional Finite Element Methods (FEM) in handling large deformations. The hybrid SPH–FEM method demonstrates a favorable balance between accuracy and efficiency, reducing computational cost by nearly 50 % while maintaining strong correlation with experiments. In addition, snow milling simulations are conducted to examine the effect of lamella geometry on frictional forces, with results showing close agreement with experimental data. These advancements improve predictive capability, enhance efficiency, and provide a foundation for future large-scale snow–tire simulation studies.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101101"},"PeriodicalIF":3.7,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145465382","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The benefit of using access materials for soil stress reduction depends on the material’s properties and vehicle mean ground pressure 使用通道材料减少土壤应力的好处取决于材料的性质和车辆的平均地面压力

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2026-01-01 Epub Date: 2025-10-10 DOI: 10.1016/j.jterra.2025.101097

Loraine ten Damme , Matthias Stettler , Renato P. de Lima , Thomas Keller

{"title":"The benefit of using access materials for soil stress reduction depends on the material’s properties and vehicle mean ground pressure","authors":"Loraine ten Damme , Matthias Stettler , Renato P. de Lima , Thomas Keller","doi":"10.1016/j.jterra.2025.101097","DOIUrl":"10.1016/j.jterra.2025.101097","url":null,"abstract":"<div><div>Construction activities can induce soil compaction due the use of heavy vehicles and repeated vehicle passes. Driving on access material reduces the risk of compaction, but data on soil stress reduction are lacking. This study investigated the effect of three access materials (0.5 m thick sand track, 0.3 m thick timber mattresses, and 0.1 m thick composite mats) on soil stress, relative to driving on unprotected soil. Mean normal stress was measured at 0.2 and 0.4 m soil depths for tracked and tyred construction vehicles (bulldozer, excavator, dump truck, and tractor-trailer). We used finite element modelling to investigate the effect of material’s thickness and stiffness on soil stress reduction. Measurements revealed that driving on access material reduced soil stress by 21–77 % and 0–60 % at 0.2 and 0.4 m depths, respectively. Stress reduction increased with increasing mean ground pressure and was larger for tyred than for tracked vehicles. The tested access materials reached a comparable effect, but simulations indicated that additional stress reduction could be achieved by increasing the stiffness or thickness of the material. Thus, more rigid or thicker material achieve greater soil stress reductions. These characteristics should be balanced against costs, transport, and ease of handling of the material.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101097"},"PeriodicalIF":3.7,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145267816","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Study on the adhesion law of rubber-soil interface under the influence of multiple factors 多因素影响下橡胶-土界面黏附规律研究

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2026-01-01 Epub Date: 2025-09-06 DOI: 10.1016/j.jterra.2025.101095

Mingyang Yuan , Ze Zhang , Hang Li , Zhiyuan Wang , Xiangxi Meng

{"title":"Study on the adhesion law of rubber-soil interface under the influence of multiple factors","authors":"Mingyang Yuan , Ze Zhang , Hang Li , Zhiyuan Wang , Xiangxi Meng","doi":"10.1016/j.jterra.2025.101095","DOIUrl":"10.1016/j.jterra.2025.101095","url":null,"abstract":"<div><div>Soil adhesion is one of the basic physical properties of soil, which is manifested as the ability of soil to adhere to foreign objects. Soil adhesion can cause additional energy consumption in mechanical operations in agriculture, engineering, transportation and other fields, which is an important scientific problem to be studied and solved urgently. In this paper, three kinds of rubber tires with different surface roughness were used as test materials, and soil samples from six regions were selected as test soil samples. The adhesion force of rubber-soil interface under different normal loads was tested, and the variation law of soil peak adhesion force and the peak moisture content to reach peak adhesion force under the combined action of various influencing factors were analyzed and discussed. The mechanism of peak moisture content change under load was proposed. The test results show that the adhesion force of the rubber-soil interface increases with the increase of surface roughness, normal load and clay content. This experiment further promoted the study of soil adhesion and helped to solve the energy consumption problem caused by soil adhesion in the transportation field.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"121 ","pages":"Article 101095"},"PeriodicalIF":3.7,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145005316","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0