Track Link-Terrain Interaction Simulation Based on Terramechanics

A review of terramechanics terrain models and discuss on their application in link-terrain, wheel-terrain and tire-terrain interaction are taken. Three kinds of pressure–sinkage relationship proposed by Bekker and Reece are studied. The loading and unloading is introduced in the model. And the relationship between the maximum shear stress and applied normal pressure is derived. The link tractive effort and drawbar pull at a given slip of an assumed shape and mass are deduced. Also the link moves in two dimensions. At last, the relationship of terrain sinkage vs. time, terrain pressure vs. sinkage and drawbar pull vs. slip for the link-terrain interface are simulated. The simulation is in good agreement with that got by Bekker.