Journal of Terramechanics最新文献

Mesomechanical analyses on the failure mechanism of the snow cluster assembly under direct shear test using discrete element method 用离散元法对雪簇组合体直剪破坏机理进行细观力学分析

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-06-23 DOI: 10.1016/j.jterra.2025.101075

Haifeng Huo , Hui Xu , Enzhao Xiao , Tao Li , Xuan Dai , Rundong Li , Bo Zhang , Biao Hu

{"title":"Mesomechanical analyses on the failure mechanism of the snow cluster assembly under direct shear test using discrete element method","authors":"Haifeng Huo , Hui Xu , Enzhao Xiao , Tao Li , Xuan Dai , Rundong Li , Bo Zhang , Biao Hu","doi":"10.1016/j.jterra.2025.101075","DOIUrl":"10.1016/j.jterra.2025.101075","url":null,"abstract":"<div><div>The shear strength of snow is an important parameter for assessing the safety of polar snow projects. To investigate the bearing and failure mechanisms of compacted snow during shear, a series of direct shear tests and corresponding discrete element simulations were conducted. The discrete element model was established using the “falling snow method” to simulate snowflake generation, landing, compression, and sintering. The contact model parameters were determined based on tested data, and simulated strengths under direct shear matched the experimental results. Results indicate that snow with a density below 450 kg·m<sup>−3</sup> primarily fails through bending, while those at or above this density mainly fail by shearing. As density and normal stress increase and sintering decreases, the percentage of bond shear failures increases, while bond bending failures decrease. The contribution of bond contact force to shear stress was greater than that of frictional contact force, with normal contact force contributing more than tangential contact force. At shear’s end, the bond contact force contribution in high-density snow was 66.9 %, lower than the 85.3 % in low-density snow. Additionally, tensile zone breakage consistently exceeded that in the compressive zone.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101075"},"PeriodicalIF":2.4,"publicationDate":"2025-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144365251","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

Mechanical properties of loose soil during dynamic penetration of landing pad under microgravity 微重力作用下松散土动力侵彻起落架的力学特性

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-06-17 DOI: 10.1016/j.jterra.2025.101072

Masatsugu Otsuki , Takao Maeda , Shingo Ozaki , Genya Ishigami , Taizo Kobayashi

{"title":"Mechanical properties of loose soil during dynamic penetration of landing pad under microgravity","authors":"Masatsugu Otsuki , Takao Maeda , Shingo Ozaki , Genya Ishigami , Taizo Kobayashi","doi":"10.1016/j.jterra.2025.101072","DOIUrl":"10.1016/j.jterra.2025.101072","url":null,"abstract":"<div><div>The safety of lunar and planetary exploration is contingent upon a preliminary assessment of the interaction between loose soils composed of regolith that covers a celestial surface and the landing gear of spacecraft, which should be designed in accordance with the findings of the assessment. However, given the issues associated with replicating the surface layer of celestial bodies on Earth, the verification of the gear design can be challenging. Conducting a real-size low-gravity test in the design verification process of a large spacecraft remains cumbersome and resource intensive. As such, drawing valuable knowledge from scale model tests is the only available solution. This paper presents the results and findings of a dynamic penetration test conducted on a scaled landing pad under microgravity using a drop tower. The experimental findings demonstrate that the results of the dynamic penetration of the pad into the regolith simulant are not necessarily indicative of the worst-case scenario of low-gravity conditions and that they are equivalent to the results obtained in the gravitational environment of the earth. This finding suggests that design verification may be feasible through tests using a full-scale spacecraft model.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101072"},"PeriodicalIF":2.4,"publicationDate":"2025-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144307419","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

Heavy-load variable stiffness lunar wheel based on adjustable tensegrity unit 基于可调张拉整体单元的重载变刚度月轮

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-06-11 DOI: 10.1016/j.jterra.2025.101074

Shengpu Zhao, Xiaotian Zhang, Zelin Zhang, Lei Bao, Qingcheng Guo

{"title":"Heavy-load variable stiffness lunar wheel based on adjustable tensegrity unit","authors":"Shengpu Zhao, Xiaotian Zhang, Zelin Zhang, Lei Bao, Qingcheng Guo","doi":"10.1016/j.jterra.2025.101074","DOIUrl":"10.1016/j.jterra.2025.101074","url":null,"abstract":"<div><div>Manned lunar landings have been prioritized as interstellar exploration capabilities continue to improve. Among them, the heavy-duty manned lunar rover is an essential tool for human lunar exploration. However, the lunar surface presents a highly complex and dynamic environment, rendering traditional lunar wheels inadequate for simultaneously addressing multifaceted requirements such as landing, locomotion, and vibration isolation. A heavy-load variable stiffness lunar wheel based on adjustable tensegrity unit is proposed, offering three stiffness states with a range of up to 178.25%. First, the wheel’s variable stiffness mechanism and corresponding applicable scenarios are introduced, along with the theoretical solution for vertical stiffness. Next, the static simulation using the finite element method (FEM) is performed to validate the theoretical solution. The lateral stiffness, impact tolerance, and single-point deformation capacity of the wheel are investigated. Results indicate that the current wheel addresses the limitations of traditional flexible lunar wheels with low lateral stiffness. Meanwhile, the wheel’s impact tolerance and single-point deformation capacity effectively meet the needs of rovers landing and operating on rugged terrains. Finally, a reduced-size prototype of the wheel is fabricated based on 3D printing technology, and the effectiveness of the variable stiffness mechanism is experimentally demonstrated.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101074"},"PeriodicalIF":2.4,"publicationDate":"2025-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144253533","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

In-house instrument development and updated classical equations for compacted snow characterization 内部仪器的发展和更新的经典方程压实雪表征

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-05-22 DOI: 10.1016/j.jterra.2025.101069

Mohit Nitin Shenvi , Corina Sandu , Costin Untaroiu

{"title":"In-house instrument development and updated classical equations for compacted snow characterization","authors":"Mohit Nitin Shenvi , Corina Sandu , Costin Untaroiu","doi":"10.1016/j.jterra.2025.101069","DOIUrl":"10.1016/j.jterra.2025.101069","url":null,"abstract":"<div><div>Testing and evaluation of commercial passenger car and truck tires for severe snow usage are performed on compacted snow tracks based on the ASTM F1805-20 standard. The snow track is characterized for these tests using the CTI penetrometer. Evaluating the compactness of the snow track as an index number is helpful, but it does not provide information that can be useful from a simulation/modeling perspective.</div><div>In this work, a new device was developed that was inspired by the ‘Russian snow penetrometer’ to help evaluate the compressive and shear properties of snow. It was found that the classical methods of analysis used for Rammsonde penetrometers and Clegg hammers had some discrepancies that partially stem from assumptions made in their formulations. This work proposes modifications to the equations thereby improving their outputs to align with a more physics-oriented approach. The assumptions in the formation of classical equations are not incorrect but may not be completely accurate for cones with a higher surface area to base area ratio.</div><div>Future work could be assessing the accuracy of the devised equations in different terrain conditions and a sensitivity study to identify critical cone angles in different conditions.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101069"},"PeriodicalIF":2.4,"publicationDate":"2025-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144105270","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

Extending granular resistive force theory to cohesive powder-scale media 将颗粒阻力理论推广到粘性粉状介质

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-05-20 DOI: 10.1016/j.jterra.2025.101058

Deniz Kerimoglu , Eloïse Marteau , Daniel Soto , Daniel I. Goldman

{"title":"Extending granular resistive force theory to cohesive powder-scale media","authors":"Deniz Kerimoglu , Eloïse Marteau , Daniel Soto , Daniel I. Goldman","doi":"10.1016/j.jterra.2025.101058","DOIUrl":"10.1016/j.jterra.2025.101058","url":null,"abstract":"<div><div>Intrusions into granular media are common in natural and engineered settings (e.g. during animal locomotion and planetary landings). While intrusion of complex shapes in dry non-cohesive granular materials is well studied, less is known about intrusion in cohesive powders. Granular resistive force theory (RFT) — a reduced-order frictional fluid model — quantitatively predicts intrusion forces in dry, non-cohesive granular media by assuming a linear superposition of angularly dependent elemental stresses acting on arbitrarily shaped intruders. Here we extend RFT’s applicability to cohesive dry powders, enabling quantitative modeling of forces on complex shapes during intrusion. To do so, we first conduct intrusion experiments into dry cornstarch powder to create stress functions. These stresses are similar to non-cohesive media; however, we observe relatively higher resistance to horizontal intrusions in cohesive powder compared to non-cohesive media. We use the model to identify geometries that enhance resistance to intrusion in cohesive powder, aiming to minimize sinkage. Our calculations, supported by experimental verification, suggest that a flat surface generates the largest stress across various intrusion angles while a curved surface exhibits the largest resistive force to vertical intrusion. Our model can thus facilitate optimizing design and movement strategies for robotic platforms (e.g. extraterrestrial landers) operating in such environments.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101058"},"PeriodicalIF":2.4,"publicationDate":"2025-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144089242","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

Development and evaluation of high-speed single-wheel test for lunar exploration rover

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-05-13 DOI: 10.1016/j.jterra.2025.101057

Keisuke Takehana , Kento Funabiki , Kosuke Okuni , Tsutomu Hamabe , Kenji Niwa , Katsuaki Tanaka , Kazuya Yoshida

{"title":"Development and evaluation of high-speed single-wheel test for lunar exploration rover","authors":"Keisuke Takehana , Kento Funabiki , Kosuke Okuni , Tsutomu Hamabe , Kenji Niwa , Katsuaki Tanaka , Kazuya Yoshida","doi":"10.1016/j.jterra.2025.101057","DOIUrl":"10.1016/j.jterra.2025.101057","url":null,"abstract":"<div><div>Rovers have significantly contributed to lunar exploration in recent years; however, most of them operate at low speeds, resulting in prolonged exploration times. For future space exploration, it is crucial to develop rovers capable of high-speed traversal and to gain a deeper understanding of the interaction between wheels and soil. We have developed a single-wheel testbed capable of operating at a speed of 5 m/s, which is substantially higher than the conventional unmanned rover’s typical speed of approximately 0.01 m/s. This apparatus allows for precise control of the wheel’s rotational and translational speeds and can actively manage the vertical load on the wheel. In this paper, we present controlled slip ratio experiments using this high-speed testbed. We measure the forces acting on the wheel, the sinkage, and evaluate the wheel’s performance in terms of its tractive capabilities. The experimental results indicate that the tractive performance decreases with an increase in the load on the wheel. Moreover, we discover that performance also declines as speed increases. This study provides valuable insights into the mechanisms of wheel performance during high-speed traversal, which will be beneficial for the development of future high-speed exploration rovers.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"119 ","pages":"Article 101057"},"PeriodicalIF":2.4,"publicationDate":"2025-05-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143943767","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

Hybrid grey wolf optimizer-ANN for predicting wheel energy consumption in off-road vehicles and enhancing resource management 混合灰狼优化-人工神经网络预测越野车车轮能耗并加强资源管理

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-05-02 DOI: 10.1016/j.jterra.2025.101067

Behzad Golanbari , Aref Mardani , Morteza Valizadeh , Nashmil Farhadi

{"title":"Hybrid grey wolf optimizer-ANN for predicting wheel energy consumption in off-road vehicles and enhancing resource management","authors":"Behzad Golanbari , Aref Mardani , Morteza Valizadeh , Nashmil Farhadi","doi":"10.1016/j.jterra.2025.101067","DOIUrl":"10.1016/j.jterra.2025.101067","url":null,"abstract":"<div><div>This study uses a hybrid artificial neural network (ANN) with the Gray Wolf optimization algorithm (GWO) to predict wheel energy consumption in off-road vehicles. The main objective is to improve resource management and reduce the energy consumed due to wheel-soil interaction. Experimental data were collected through a Bevameter device in a controlled environment. Key parameters such as penetration depth, penetration velocity, vertical load, plate size, and number of passes were considered as inputs to the neural network. The neural network was trained using two trial-and-error methods and the GWO algorithm, and its performance was evaluated using MSE and R<sup>2</sup> metrics. The results showed that the GWO method performed better than the trial-and-error method, with a lower MSE of 0.5123 and a higher coefficient of determination of 0.9812. Data analysis showed that increasing speed and vertical load led to increased energy consumption while increasing the number of passes due to soil compaction reduced the energy consumption. This study shows that a hybrid neural network with the GWO algorithm can effectively predict the energy consumption in the indentation of plates in the soil, which is a kind of representative of the wheel.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"119 ","pages":"Article 101067"},"PeriodicalIF":2.4,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143895596","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

Modelling of soil-chisel tine interactions using the discrete element method 用离散元法模拟土-凿-时相互作用

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-05-02 DOI: 10.1016/j.jterra.2025.101068

Nurettin Kayahan , Mehmet Bahadır , Kazım Çarman

{"title":"Modelling of soil-chisel tine interactions using the discrete element method","authors":"Nurettin Kayahan , Mehmet Bahadır , Kazım Çarman","doi":"10.1016/j.jterra.2025.101068","DOIUrl":"10.1016/j.jterra.2025.101068","url":null,"abstract":"<div><div>Optimization of operating parameters of soil tillage machines that require high energy in agricultural mechanization processes is of great importance in terms of reducing energy input and increasing efficiency. Discrete element method (DEM), one of the numerical simulation techniques, has been widely used in simulation studies on determining the operating parameters of soil tillage machines and their effects on the soil in recent years. In this study, DEM simulation was used to determine the effect of different chisel tine on the soil and the draft force. The results obtained from the experiments conducted in the soil bin were compared with the DEM simulation. As a result of the tests carried out at two different depths, the R, MSE and ε values determined to compare the draft forces obtained from the DEM simulation and the soil bin were found to be 0.99, 6853.59 and 10.43 for 20 cm working depth, and 0.993, 8401.974, 8.49 for 28 cm working depth, respectively. The values of R, MSE and ε determined for the deformation area were found as 0.997, 1375.1 and 7.04 for 20 cm working depth, and 0.975, 3196.75, 5.39 for 28 cm working depth, respectively.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"119 ","pages":"Article 101068"},"PeriodicalIF":2.4,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143895595","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

Mechanical model building of bionic walking robot in motion with soft terrain 软地形运动仿生步行机器人力学模型的建立

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-05-02 DOI: 10.1016/j.jterra.2025.101059

Zhen Chen , Meng Zou , Jie Huang , Yuzhi Wang , Lianbin He

{"title":"Mechanical model building of bionic walking robot in motion with soft terrain","authors":"Zhen Chen , Meng Zou , Jie Huang , Yuzhi Wang , Lianbin He","doi":"10.1016/j.jterra.2025.101059","DOIUrl":"10.1016/j.jterra.2025.101059","url":null,"abstract":"<div><div>Bionic walking robots exhibit excellent mobility on rigid terrain.</div><div>however, their trafficability on soft terrain remains a significant challenge affecting their overall performance. To address this issue, we firstly developed a kinematic model of a bionic walking robot to derive the motion parameters between the footpad and soft terrain. Subsequently, a footpad-terrain interaction model was established to analyze the forces acting on the robot during its movement on soft terrain. An exemplar robot leg was built and three footpads at various walking speed were experimentally tested using a versatile single-legged test bench, various stages of footpad-terrain interactions were recorded and vertical force F<sub>1</sub> and horizontal force F<sub>2</sub> were measured. The results confirmed that the model could predict the forces with an accuracy greater than 90 %. The minimal differences observed between the experimental and model values suggest that the mechanical model is reliable for force analysis. Therefore, the mechanical model developed in the study could be further determine the forces exerted on the footpads at and defined moments and sinkage, and a layout foundation to understand the stability of walking robots.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"119 ","pages":"Article 101059"},"PeriodicalIF":2.4,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143898415","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

An insight into mobility power efficiency of an automated guided vehicle performing in the presence of a hinged trailer 在铰接拖车存在的情况下，对自动引导车辆的移动动力效率的洞察

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-04-10 DOI: 10.1016/j.jterra.2025.101056

S.M. Shafaei , H. Mousazadeh

{"title":"An insight into mobility power efficiency of an automated guided vehicle performing in the presence of a hinged trailer","authors":"S.M. Shafaei , H. Mousazadeh","doi":"10.1016/j.jterra.2025.101056","DOIUrl":"10.1016/j.jterra.2025.101056","url":null,"abstract":"<div><div>This is the first research that it conceptually appraises new technical paradigm (mobility power efficiency) for automated guided vehicle (AGV) of tandem robotic transportation system. Pulling operations were conducted based on changes of operational parameters of the AGV speed, tire air pressure, and trailer load. Results of the operations for the mobility power efficiency (5.54–28.67 %) were compared to those of former technical paradigm (tractive power efficiency). Reliable data obtained from exponential model indicated that the AGV slippage values for the maximum mobility power efficiency were higher (averagely 3.1 times) than those of the maximum tractive power efficiency. As traction ability of the AGV in the pulling operations is more important than its mobility ability, the tractive power efficiency must be considered as main technical paradigm. The mobility power efficiency must be considered as main technical paradigm for free motion of the AGV without drawbar pull. Meanwhile, mobility power loss values indicated that 1.19–33.52 % of the AGV mobility power were wasted. These research results are advantageous for researchers, engineers, and supervisors concerned with the AGV not only operated in inside and outside robotic production lines of manufacturing sectors, but also employed in intelligent warehousing systems and wharf container terminals.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"119 ","pages":"Article 101056"},"PeriodicalIF":2.4,"publicationDate":"2025-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143807667","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