Visualization and analysis of wheel camber angle effect for slope traversability using an in-wheel camera

Ryota Matsumura, Genya Ishigami

Research output: Contribution to journalArticlepeer-review

Abstract

This paper visualizes and analyzes an effect of a wheel camber angle for the slope traversability in sandy terrain. An in-wheel camera developed in this work captures the wheel-soil contact phenomenon generated beneath the wheel through a transparent section of the wheel surface. The images taken by the camera are then analyzed using the particle image velocimetry. The soil flows with various wheel camber angles are analyzed with regard to the soil failure observed on the slope surface. The analysis reveals that the slope failure and soil accumulation in front of the wheel significantly affect the wheel forces and distributions of the wheel sinkage in the wheel width direction. Further, the side force of the wheel in traversing a slope decreases as the slip ratio increases because the shear stress in the slope downward direction decreases owing to the slope failure.

Original languageEnglish
Pages (from-to)1-10
Number of pages10
JournalJournal of Terramechanics
Volume93
DOIs
Publication statusPublished - 2021 Feb

Keywords

  • In-wheel camera
  • Wheel camber angle
  • Wheel-soil interaction

ASJC Scopus subject areas

  • Mechanical Engineering

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