@inproceedings{8b66d4d5ef1949f4afe7864eab427de2,
title = "Terramechanics Analysis of Moving Mechanism with Reconfigurable Wheel-track",
abstract = "The wheel-track robot is an innovative type of mobile robot combining the wheel and the track in one part. This innovative form of movement could move quickly and flexibly, meanwhile, could easily climbing obstacles. In this paper, a moving mechanism with reconfigurable wheel-track which fully integrates the wheel mechanism and the track mechanism is designed. To study the interaction between the wheel and the ground, it is necessary to analyze both the pressure process and the shear process. With the terramechanics analysis of the reconfigurable wheel-track, the wheel-terrain interaction model and the track-terrain interaction model are proposed. The two models are simulated using MATLAB to obtain sinkage and stress distribution. Through the traction characteristics obtained by simulation, the passing ability of the moving mechanism reconfigurable wheel-track on different soft ground is analyzed.",
keywords = "passing ability, sinkage distribution, terramechanics, wheel-track",
author = "Rui Deng and Mingkang Li and Yi Wei and Xueshan Gao and Kejie Li",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 19th IEEE International Conference on Mechatronics and Automation, ICMA 2022 ; Conference date: 07-08-2022 Through 10-08-2022",
year = "2022",
doi = "10.1109/ICMA54519.2022.9855948",
language = "English",
series = "2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1622--1627",
booktitle = "2022 IEEE International Conference on Mechatronics and Automation, ICMA 2022",
address = "United States",
}