National Technical Reports Library

The National Technical Information Service acquires, indexes, abstracts, and archives the largest collection of U.S. government-sponsored technical reports in existence. The NTRL offers online, free and open access to these authenticated government technical reports. Technical reports and documents in its repository may be available online for free either from the issuing federal agency, the U.S. Government Publishing Office’s Federal Digital System website, or through search engines.

Details

Bekker's Terramechanics Model for Off-Road Vehicle Research.

ADA457955

Publication Date	1990
Personal Author	Laughery, S.; Gerhart, G.; Goetz, R.
Page Count	31
Abstract	Bekker's Derived Terramechanics Model (BDTM) is an analytical tool for evaluating vehicle off-road mobility. BDTM has been developed using Bekker's equations for vehicle soil interactions. He developed the bevameter technique to measure mechanical strength characteristics for many soil and snow conditions. This procedure uses seven parameters to describe soil conditions, which differs from the conventional single parameter vehicle cone index methodology used by the NATO Reference Mobility Model (NRMM). NRMM uses the cone penetrometer technique to experimentally measure fine-grained soil mechanical characteristics. BDTM is in a spreadsheet format, and its primary purpose is to compare mobility characteristics for robotic track and wheeled vehicles under different terrain conditions. Bekker's model is a simple, linear one degree-of-freedom (1-DOF) model, which assumes that in a perfectly cohesive soil (i.e. clay), soil thrust is only a function of contact surface area. The model also assumes that for a perfectly cohesionless or frictional soil (i.e. dry sand), soil thrust is a function of vehicular weight. This paper attempts to compare the mobility characteristics of wheeled vs. track vehicles for different size, weight and terrain conditions.
Keywords	Mobility Offroad traffic Spreadsheet software Mechanical properties Robotics Models Penetrometers Soil mechanics Strength(Mechanics) Degrees of freedom Ground vehicles Equations Bdtm(Bekker's derived terramechanics model) Nrmm(Nato reference mobility model)
Source Agency	Non Paid ADAS
Corporate Authors	Tacom Research, Development and Engineering Center, Warren, MI.
Document Type	Technical Report
NTIS Issue Number	200709

Bekker's Terramechanics Model for Off-Road Vehicle Research.

Bekker's Terramechanics Model for Off-Road Vehicle Research.
ADA457955

Publication Date	1990
Personal Author	Laughery, S.; Gerhart, G.; Goetz, R.
Page Count	31
Abstract	Bekker's Derived Terramechanics Model (BDTM) is an analytical tool for evaluating vehicle off-road mobility. BDTM has been developed using Bekker's equations for vehicle soil interactions. He developed the bevameter technique to measure mechanical strength characteristics for many soil and snow conditions. This procedure uses seven parameters to describe soil conditions, which differs from the conventional single parameter vehicle cone index methodology used by the NATO Reference Mobility Model (NRMM). NRMM uses the cone penetrometer technique to experimentally measure fine-grained soil mechanical characteristics. BDTM is in a spreadsheet format, and its primary purpose is to compare mobility characteristics for robotic track and wheeled vehicles under different terrain conditions. Bekker's model is a simple, linear one degree-of-freedom (1-DOF) model, which assumes that in a perfectly cohesive soil (i.e. clay), soil thrust is only a function of contact surface area. The model also assumes that for a perfectly cohesionless or frictional soil (i.e. dry sand), soil thrust is a function of vehicular weight. This paper attempts to compare the mobility characteristics of wheeled vs. track vehicles for different size, weight and terrain conditions.
Keywords	Mobility Offroad traffic Spreadsheet software Mechanical properties Robotics Models Penetrometers Soil mechanics Strength(Mechanics) Degrees of freedom Ground vehicles Equations Bdtm(Bekker's derived terramechanics model) Nrmm(Nato reference mobility model)
Source Agency	Non Paid ADAS
Corporate Authors	Tacom Research, Development and Engineering Center, Warren, MI.
Document Type	Technical Report
NTIS Issue Number	200709