Journal of Terramechanics最新文献_第3页

Physics informed Gaussian process models for real-time simulation of tire terrain interactions for off- road conditions 物理告知高斯过程模型的实时仿真轮胎地形相互作用的越野条件

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-10-01 Epub Date: 2025-07-28 DOI: 10.1016/j.jterra.2025.101077

Suhas A. Kowshik, Andrew Fisseler, Arun R. Srinivasa, J.N. Reddy

{"title":"Physics informed Gaussian process models for real-time simulation of tire terrain interactions for off- road conditions","authors":"Suhas A. Kowshik, Andrew Fisseler, Arun R. Srinivasa, J.N. Reddy","doi":"10.1016/j.jterra.2025.101077","DOIUrl":"10.1016/j.jterra.2025.101077","url":null,"abstract":"<div><div>We propose a Gaussian process machine learning model (GPM) for real-time simulation of tire-terrain interactions, especially under off-road conditions. Compared to purely empirical models or classical Neural Networks, the GPM requires much less input data for training, has greater ability to explain, and is able to quantify uncertainty in predictions. The model can seamlessly incorporate any combination of physics-based numerical simulations, empirical or semi-empirical models, and experimental data and produce real-time predictions of the interaction parameters (such as normal and shear forces, tire sinkage, etc.) along with uncertainty estimates on its predictions. The key idea is to use empirical models such as the steady-state Becker-Wong model as the baseline and “learn” the difference due to the dynamic response of the tire from detailed physics-based models or experimental data or any combination. We show that the result is able to make highly accurate predictions of the tire response in real-time. Such simplified models can be useful for training autonomous off-road vehicles under various conditions. They are also useful for virtual testing of different vehicle designs on different terrain.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101077"},"PeriodicalIF":2.4,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144714394","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 : 2025-10-01 Epub 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":"2025-10-01","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

Efficient flexible tire-terrain interaction modelling 高效灵活的轮胎-地形交互建模

IF 3.7 3区工程技术

Journal of Terramechanics Pub Date : 2025-10-01 Epub Date: 2025-08-04 DOI: 10.1016/j.jterra.2025.101081

Mahdi Maleki , József Kövecses

{"title":"Efficient flexible tire-terrain interaction modelling","authors":"Mahdi Maleki , József Kövecses","doi":"10.1016/j.jterra.2025.101081","DOIUrl":"10.1016/j.jterra.2025.101081","url":null,"abstract":"<div><div>The analysis of tire dynamics is essential in simulating vehicle behavior. The forces exerted on a tire depend on the interaction between the tire and the terrain at the contact patch, and the tire structure directly influences this interaction. Complex models, such as finite element or lumped-parameter models, are typically required to represent tire flexibility accurately. However, these models are computationally expensive, making them unsuitable for real-time simulation.</div><div>In this work, we develop a reduced model for flexible tire-terrain interaction. A reduced model is a lower-fidelity representation that captures essential features of a complex system at a significantly lower computational cost. Our model efficiently represents the influence of tire flexibility on vehicle dynamics by computing the effective stiffness of the tire and combining it with a rigid body wheel model.</div><div>We observe that the contact patch size, which depends on tire deformation, directly affects traction forces. A larger contact patch enables the generation of greater frictional force before slipping. In the proposed model, effective stiffness is used to determine the contact patch size, which then scales the friction coefficient accordingly.</div><div>Simulation results demonstrate efficient real-time performance with high accuracy, making the model well-suited for diverse vehicle simulation applications.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101081"},"PeriodicalIF":3.7,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144771905","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 : 2025-10-01 Epub 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":"2025-10-01","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

UAV-based three-dimensional rough terrain modelling 基于无人机的三维粗糙地形建模

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-10-01 Epub Date: 2025-07-04 DOI: 10.1016/j.jterra.2025.101079

Herman A. Hamersma, J. Christian van Aswegen, A. Glenn Guthrie, Carl M. Becker, P.Schalk Els

{"title":"UAV-based three-dimensional rough terrain modelling","authors":"Herman A. Hamersma, J. Christian van Aswegen, A. Glenn Guthrie, Carl M. Becker, P.Schalk Els","doi":"10.1016/j.jterra.2025.101079","DOIUrl":"10.1016/j.jterra.2025.101079","url":null,"abstract":"<div><div>Accurate modelling of the interaction between a tyre and the terrain is crucial for successful vehicle dynamics simulation, particularly in challenging off-road conditions. This study introduces a novel approach for obtaining accurate 3D terrain models for vehicle simulation. An unmanned aerial vehicle (UAV) was used to develop three-dimensional terrain models of a various test tracks. These models were compared with measurements obtained from a traditional road profilometer. Excellent correlation between the two measurement approaches is found. The advantages of the UAV method lie in its speed without compromising accuracy and that measurements are immune to the terrain roughness. In contrast to the labour-intensive measurements required by a mechanical road profilometer and subsequent post-processing, the UAV approach requires minimal time and effort. The UAV method is not coupled to the terrain roughness, thus eliminating the drift associated with other ground-based approaches. The UAV method is insensitive to terrain deformation. This opens the door to modelling very rough and even deformable terrains and using these models for vehicle dynamics simulations in extreme off-road environments. Data analysis is prone to many potential pitfalls which can result in highly inaccurate results that are difficult to detect unless a reliable baseline is available for comparison.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101079"},"PeriodicalIF":2.4,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144549387","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

Calibration and validation of a discrete element model for sand and fine grain soil for use in vehicle mobility applications 用于车辆移动应用的砂和细颗粒土壤的离散元素模型的校准和验证

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-10-01 Epub Date: 2025-07-26 DOI: 10.1016/j.jterra.2025.101082

Tamer Wasfy , Omar Elmaraghi , Omkar Ghike , Ashwin Gaonkar , Hazim El-Mounayri , Paramsothy Jayakumar , Srinivas Sanikommu

{"title":"Calibration and validation of a discrete element model for sand and fine grain soil for use in vehicle mobility applications","authors":"Tamer Wasfy , Omar Elmaraghi , Omkar Ghike , Ashwin Gaonkar , Hazim El-Mounayri , Paramsothy Jayakumar , Srinivas Sanikommu","doi":"10.1016/j.jterra.2025.101082","DOIUrl":"10.1016/j.jterra.2025.101082","url":null,"abstract":"<div><div>In this paper, a procedure for calibrating a discrete element (DE) computational soil model for use in prediction of ground vehicle mobility is presented. The procedure relies on using the results of two small-scale physical soil experiments: (1) confined uniaxial compression; and (2) unconfined shear strength under different levels of normal stress and normal prestress. The confined uniaxial compression is an approximate hydrostatic compression test that is used to calibrate the DE bulk density, plastic strain, and elastic strain as a function of hydrostatic stress. The unconfined shear strength test is used to calibrate the DE inter-particle friction coefficient and adhesion stress as a function of the soil plastic strain. The test devices and experimental test procedures are presented in the paper. The DE model calibration procedure is demonstrated in the paper using two types of soils: silt–clay and sand-silt. The model is then validated by comparing its results for those two types of soil to experiment results for the following 3 tests: (1) confined shear strength test; (2) full-scale tracked vehicle drawbar-pull test; and (3) single tire drawbar-pull test. Within the middle of the slip range, the simulation results agree within ± 10 % on average with the experimental results for validation tests (2) and (3).</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101082"},"PeriodicalIF":2.4,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144711151","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

Bionic design of a anti-sinking walking wheel for micro tillers and wheel-soil interaction model 微型分蘖防下沉行走轮仿生设计及轮-土相互作用模型

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-10-01 Epub Date: 2025-07-09 DOI: 10.1016/j.jterra.2025.101078

Dianlei Han , Jinrui Hu , Hairui Liu , Lizhi Ren , Qizhi Yang , Bingbo Cui

{"title":"Bionic design of a anti-sinking walking wheel for micro tillers and wheel-soil interaction model","authors":"Dianlei Han , Jinrui Hu , Hairui Liu , Lizhi Ren , Qizhi Yang , Bingbo Cui","doi":"10.1016/j.jterra.2025.101078","DOIUrl":"10.1016/j.jterra.2025.101078","url":null,"abstract":"<div><div>The existing wheels exhibit suboptimal performance when traversing the paddy fields. This study aims to develop a wheel suitable for the paddy fields. Firstly, an analysis was conducted into the morphological alterations and patterns of the webbed foot, leveraging the kinematic characteristics of mallards. Secondly, a walking wheel featuring anti-sinking and high-traction attributes was conceptualized and designed. Concurrently, a model elucidating the relationship between the contact area and the leg-foot angle variation was formulated. Subsequently, a series of field trials about the walking wheel and the paddy wheel were measured. Within the range of the slip ratio from 0 to 0.47, the drawbar pull, driving torque and sinkage of the walking wheel gradually increase, and the traction efficiency initially ascended and subsequently tapered off. In the paddy field and wetland, in comparison to the paddy wheel, the drawbar pull was augmented by 97.29 % and 51.65 % respectively. These findings validate the superior traction and traversal capabilities of the walking wheel. Finally, a terramechanics model delineating the relationship between the drawbar pull and slip ratio variation was established. This model holds the potential to furnish theoretical and technical underpinnings for augmenting the traction performance of walking wheels.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101078"},"PeriodicalIF":2.4,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144581135","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

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 : 2025-10-01 Epub 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":"2025-10-01","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

DEM-based analysis and optimization of an excavation bucket drum for in-situ resource utilization 基于dem的挖掘斗鼓就地资源利用分析与优化

IF 2.4 3区工程技术

Journal of Terramechanics Pub Date : 2025-10-01 Epub Date: 2025-07-08 DOI: 10.1016/j.jterra.2025.101073

Tomoyasu Nakano , Takuya Omura , Rocco Galati , Genya Ishigami

{"title":"DEM-based analysis and optimization of an excavation bucket drum for in-situ resource utilization","authors":"Tomoyasu Nakano , Takuya Omura , Rocco Galati , Genya Ishigami","doi":"10.1016/j.jterra.2025.101073","DOIUrl":"10.1016/j.jterra.2025.101073","url":null,"abstract":"<div><div>The bucket drum, a cylindrical rotating mechanism that efficiently excavates and collects lunar regolith, is essential for in-situ resource utilization (ISRU). While bucket drums offer advantages in energy efficiency and adaptability to low-gravity conditions, optimizing their shape and motion remains an open issue. Therefore, this paper aims to find an optimal design of the bucket drum using the discrete element method (DEM). We focus on five key design parameters were analyzed: two related to bucket shape (scoop throat length and scoop inlet number) and three related to motion (bucket vertical force, horizontal velocity, and angular velocity). These parameters were evaluated based on two performance indices: sand fill ratio and excavation power consumption. By solving the multi-objective problem of maximizing fill ratio while minimizing power consumption, an optimal design of the bucket drum was identified. Subsequently, a bucket drum with the optimal shape was 3D-printed, and the optimal motion of the bucket drum was applied using the soil excavation test apparatus. The test results qualitatively matched the results derived from the DEM analysis. This highlights the validity of the relationship between the design parameters and two performance indices, contributing to the advancement of ISRU excavation technologies.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"120 ","pages":"Article 101073"},"PeriodicalIF":2.4,"publicationDate":"2025-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144570667","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 : 2025-10-01 Epub 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":"2025-10-01","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