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Author: Brian Wills
Publisher:
ISBN:
Category :
Languages : en
Pages : 104
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Book Description
It is shown that existing empirical pressure sinkage equations are quite inaccurate in predicting load sinkage values from model footing tests. By means of similarity or dimensional analysis, however, it is possible to make accurate predictions from model footing for purely frictional or purely cohesive soils. Unfortunately this approach cannot be used for composite soils and a general equation can only be tentatively suggested. A pressure sinkage equation derived by means of a more fundamental approach based on soil plasticity theory is shown to agree qualitatively with the above general equation although quantitatively it can only be used with reasonable accuracy or highly compacted frictional and stiff cohesive soils. This equation requires much further development before it can be applied to weak composite soil types.
Author: Brian Wills
Publisher:
ISBN:
Category :
Languages : en
Pages : 104
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Book Description
It is shown that existing empirical pressure sinkage equations are quite inaccurate in predicting load sinkage values from model footing tests. By means of similarity or dimensional analysis, however, it is possible to make accurate predictions from model footing for purely frictional or purely cohesive soils. Unfortunately this approach cannot be used for composite soils and a general equation can only be tentatively suggested. A pressure sinkage equation derived by means of a more fundamental approach based on soil plasticity theory is shown to agree qualitatively with the above general equation although quantitatively it can only be used with reasonable accuracy or highly compacted frictional and stiff cohesive soils. This equation requires much further development before it can be applied to weak composite soil types.
Author: United States. Army Tank Automotive Center
Publisher:
ISBN:
Category : Locomotion
Languages : en
Pages : 258
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Author:
Publisher:
ISBN:
Category : Science
Languages : en
Pages : 812
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Author: Mikael Juul Hvorslev
Publisher:
ISBN:
Category : Soil mechanics
Languages : en
Pages : 136
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Author: Cornell Aeronautical Laboratory
Publisher:
ISBN:
Category : Transportation, Military
Languages : en
Pages : 194
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Author: Klaus W. Wiendieck
Publisher:
ISBN:
Category : Soil mechanics
Languages : en
Pages : 62
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Author:
Publisher:
ISBN:
Category :
Languages : en
Pages : 648
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Author: David J. Manko
Publisher: Springer Science & Business Media
ISBN: 1461535743
Category : Technology & Engineering
Languages : en
Pages : 121
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Book Description
Dynamic modeling is the fundamental building block for mechanism analysis, design, control and performance evaluation. One class of mechanism, legged machines, have multiple closed-chains established through intermittent ground contacts. Further, walking on natural terrain introduces nonlinear system compliance in the forms of foot sinkage and slippage. Closed-chains constrain the possible motions of a mechanism while compliances affect the redistribution of forces throughout the system. A General Model of Legged Locomotion on Natural Terrain develops a dynamic mechanism model that characterizes indeterminate interactions of a closed-chain robot with its environment. The approach is applicable to any closed-chain mechanism with sufficient contact compliance, although legged locomotion on natural terrain is chosen to illustrate the methodology. The modeling and solution procedures are general to all walking machine configurations, including bipeds, quadrupeds, beam-walkers and hopping machines. This work develops a functional model of legged locomotion that incorporates, for the first time, non-conservative foot-soil interactions in a nonlinear dynamic formulation. The model was applied to a prototype walking machine, and simulations generated significant insights into walking machine performance on natural terrain. The simulations are original and essential contributions to the design, evaluation and control of these complex robot systems. While posed in the context of walking machines, the approach has wider applicability to rolling locomotors, cooperating manipulators, multi-fingered hands, and prehensile agents.
Author: International Society for Terrain-Vehicle Systems
Publisher:
ISBN:
Category : Trafficability
Languages : en
Pages : 640
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Author:
Publisher:
ISBN:
Category : Motor vehicles
Languages : en
Pages : 302
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