Modeling of Tyre-Clay Soil Interaction via Quasi-Static Moving Boundary Displacement Method

A vehicle mobility model has been developed using energy principles and a quasi-static moving boundary displacement method. For a given condition of both tyre and terrain characteristics, the model calculates the contact length, the slip rate, the traction efficiency and the drawbar pull. The effect of tread configuration is also included in calculating the slip rate. A numerical example is given to demonstrate the capability of the new developed mode. The model's predictions are also compared with the experimental results in the laboratory tests and a good agreement is obtained.