Title: Predicting wheel forces using bearing capacity theory for general planar loads

Authors: J.P. Hambleton; S.A. Stanier

Addresses: Department of Civil and Environmental Engineering, Northwestern University, Evanston, IL 60208, USA; ARC Centre of Excellence for Geotechnical Science and Engineering, The University of Newcastle, Callaghan, NSW 2308, Australia ' ARC Centre of Excellence for Geotechnical Science and Engineering, Centre for Offshore Foundation Systems, The University of Western Australia, Perth, 6009, Australia

Abstract: This paper assesses the applicability of bearing capacity theory for evaluating the forces generated on wheels operating on clay under steady rolling conditions. Considering advances in bearing capacity theory, in particular the interaction diagrams developed for general loading, a theoretical model for computing the horizontal force or torque from fundamental input parameters such as the vertical force (weight), wheel diameter, and undrained shear strength of the soil is presented. The predictions are compared with existing analytical solutions and data from laboratory testing, and reasonable agreement is demonstrated. The newly proposed model provides a means to predict wheel forces analytically under any operating condition (driven, braked, or towed), provided the contact length and so-called contact angle, which defines the position of the contact interface, can be estimated. The model provides a rigorous, convenient framework for evaluating wheel forces under arbitrary loading and enables a natural physical interpretation of the mobility problem.

Keywords: soil-wheel interaction; off-road mobility; bearing capacity; interaction diagrams; yield envelopes; clay surfaces; force prediction; wheel forces; planar loads; off-road vehicles; vertical force; wheel diameter; undrained soil; shear strength.

DOI: 10.1504/IJVP.2017.081276

International Journal of Vehicle Performance, 2017 Vol.3 No.1, pp.71 - 88

Received: 07 May 2016
Accepted: 07 Sep 2016
Published online: 01 Jan 2017 *

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