An Evaluation of Wheel-Track Systems: Abridged Version for Introduction to Robotics Course - Hannah Lyness - Carnegie Mellon ...
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An Evaluation of Wheel-Track Systems:
Abridged Version for
Introduction to Robotics
Course
Hannah Lyness
MSR Thesis Presentation
Committee: Dimitrios Apostolopoulos (Head), David Wettergreen,
Venkat Rajagopalan
1
Presentation Outline
Introduction
Motivation
Research Question
Technology History
A Novel Wheel-Track Design
Prototype Testing
Terramechanics Background
Comparative Evaluation
Conclusion
2
Wheels and Tracks Each Offer Different
Advantages
Wheels Tracks
“HMMWV (Humvee) High-Mobility Multipurpose Wheeled Vehicle, United States of America.” The Global Armoured and Counter-IED
Vehicles Market 2011-2021. http://www.army-technology.com/projects/hmmvv/, Jason Fudge. M1A1 Abrams Tank 4th Tank Battalion.
Nov. 22, 2008. URL: http://military-photo.blogspot.com/2008/11/m1a1-abrams-tank-4th-tank-battalion.html (visited on 08/13/2016).
Introduction 3
Wheels and Tracks Each Offer Different
Advantages
Wheels Tracks
Lower system losses
“HMMWV (Humvee) High-Mobility Multipurpose Wheeled Vehicle, United States of America.” The Global Armoured and Counter-IED
Vehicles Market 2011-2021. http://www.army-technology.com/projects/hmmvv/, Jason Fudge. M1A1 Abrams Tank 4th Tank Battalion.
Nov. 22, 2008. URL: http://military-photo.blogspot.com/2008/11/m1a1-abrams-tank-4th-tank-battalion.html (visited on 08/13/2016).
Introduction 3
Wheels and Tracks Each Offer Different
Advantages
Wheels Tracks
Lower system losses
Lower acoustic signature
Reduced fuel consumption
“HMMWV (Humvee) High-Mobility Multipurpose Wheeled Vehicle, United States of America.” The Global Armoured and Counter-IED
Vehicles Market 2011-2021. http://www.army-technology.com/projects/hmmvv/, Jason Fudge. M1A1 Abrams Tank 4th Tank Battalion.
Nov. 22, 2008. URL: http://military-photo.blogspot.com/2008/11/m1a1-abrams-tank-4th-tank-battalion.html (visited on 08/13/2016).
Introduction 3
Wheels and Tracks Each Offer Different
Advantages
Wheels Tracks
Lower system losses Larger contact surface patch
Lower acoustic signature
Reduced fuel consumption
“HMMWV (Humvee) High-Mobility Multipurpose Wheeled Vehicle, United States of America.” The Global Armoured and Counter-IED
Vehicles Market 2011-2021. http://www.army-technology.com/projects/hmmvv/, Jason Fudge. M1A1 Abrams Tank 4th Tank Battalion.
Nov. 22, 2008. URL: http://military-photo.blogspot.com/2008/11/m1a1-abrams-tank-4th-tank-battalion.html (visited on 08/13/2016).
Introduction 3
Wheels and Tracks Each Offer Different
Advantages
Wheels Tracks
Lower system losses Larger contact surface patch
Lower acoustic signature Reduced sinkage
Reduced fuel consumption Increased stability while firing
“HMMWV (Humvee) High-Mobility Multipurpose Wheeled Vehicle, United States of America.” The Global Armoured and Counter-IED
Vehicles Market 2011-2021. http://www.army-technology.com/projects/hmmvv/, Jason Fudge. M1A1 Abrams Tank 4th Tank Battalion.
Nov. 22, 2008. URL: http://military-photo.blogspot.com/2008/11/m1a1-abrams-tank-4th-tank-battalion.html (visited on 08/13/2016).
Introduction 3
Wheels and Tracks Each Offer Different
Advantages
Wheels Tracks
Lower system losses Larger contact surface patch
Lower acoustic signature Reduced sinkage
Reduced fuel consumption Increased stability while firing
Lower resistance to turning Formatted for point turns
“HMMWV (Humvee) High-Mobility Multipurpose Wheeled Vehicle, United States of America.” The Global Armoured and Counter-IED
Vehicles Market 2011-2021. http://www.army-technology.com/projects/hmmvv/, Jason Fudge. M1A1 Abrams Tank 4th Tank Battalion.
Nov. 22, 2008. URL: http://military-photo.blogspot.com/2008/11/m1a1-abrams-tank-4th-tank-battalion.html (visited on 08/13/2016).
Introduction 3
Large Ground Vehicles are Vital for Modern
Warfare
“We do need a new ground armored platform for our
mechanized infantry and our tanks”
– Army Chief of Staff General Mark Milley
Priorities for Our Nation’s Army with General Mark A. Milley. https://www.csis.org/events/priorities-our-nations-army-general-mark-milley .
Gulf War: Some Lessons Learned https://www.defensemedianetwork.com/stories/gulf-war-20th-some-lessons-learned-from-the-land-war/
Motivation 4
Mobility is Key for Military Vehicles
Increasing number of battles fought in cities
https://www.haaretz.com/middle-east-news/isis-controlled-ramadi-facing-final-iraqi-army-assault-1.5382116
Motivation 5Vehicle Configuration Varies Greatly Across
Armies
HMMWV M1126 Stryker
>200,000x as of 2016Research Question
How can we design and evaluate
devices that combine the benefits
of both wheels and tracks?
Research Question 7Research Question
How can we design and evaluate devices that combine the
benefits of both wheels and tracks?
What has been tried in the past?
How is NREC designing their wheel-track system?
Do NREC’s prototypes show promise for use on a real vehicle?
How is performance estimated for wheeled and tracked
vehicles?
How does the expected performance of NREC’s design
compare to other systems?
Research Question 8Beginning of Wheel Innovation
Nicolas-Joseph Cugnot’s Steam-Powered Automobile:
1769
Automotive History. San Diego Museum of Automotive History. URL: http://sdautomuseum.org/education/automotive-history
History 9Early Technological Milestones
Volcanized Rubber: The Pneumatic Tire:
1844 Popularized 1894
Charles Goodyear. “Improvements in the Manner of Preparing Fabrics of Caotchouc or India-Rubber”. US 3633. June 15, 1844.
John Boyd Dunlop. “Pneumatic Tire”. US 523270. July 17, 1894.
History 10Early Technological Milestones
The Pneumatic Tire:
Popularized 1894
Abbsry New and Used Tires. “Diagram of Radial Tire Parts and Wear Signs. 2015. URL:
http://www.abbsrytire.com/diagramtire.htm.
History 11Start of Off-Road Vehicle Design
Adolphe Kegresse’s Motor-Sledge:
1914
A 1916 Packard Twin-6 touring car from tsar Nicholas II of Russia equipped with Kegresse system (1917). URL:
https://upload.wikimedia.org/wikipedia/commons/thumb/9/92/Russo-balt5.jpg/520px-Russo-balt5.jpg
History 12Early Track Designs
Interconnected Units: Continuous Track:
1950s 1960s
Arthyr E. Benson. “Pneumatic Track”. US 32746811. May 22, 1956., Walton W. Cushman. “Endless tread and track assembly”. US 2867480.
Jan. 6, 1959.
Giovanni Bonmartini. “Pneumatic tubular track, driving and carrying device”. US 3155436. Nov. 3, 1964.
History 13Alternative Wheel Designs
The Resilient Wheel: The Nonpneumatic Wheel:
1909 2001
William L. Martin. “Resilient Wheel”. US 927154. July 6, 1909.
Francois Hottebart. “Nonpneumatic deformable wheel”. US 6170544. Jan. 9, 2001.
History 14Alternative Wheel Designs
Central Tire Inflation System:
1942
“Central Tire Inflation System.” Spicer Drivetrain Products. 2017. http://spicerparts.com/parts/axle/commercial-off-
highway/central-tire-inflation-system-ctis
History 15Hybrid Designs
Over Tire Tracks: Track N Go:
1955 2013
Roy A. Crop. “Wheeled vehicle convertible to crawler type”. US 2698667. Jan. 4, 1955.
About Us. AD Boivin Inc. 2017. URL: http://trucktracks.com/en/aboutus/
History 16Hybrid Designs
Elbit VIPeR: Mattracks 4TS Tire-Track:
2009 2014
Cody Underwood, Military.com. ”Robotic Warriors: The Viper”. 2017-08-23. http://www.military.com/video/logistics-and-
supplies/military-equipment/robotic-warriors-the-viper/2625125923001.
Dan Laux and Jason Alef. Tire to Track Transforming System. PDF file. ISTVS 8th Americas Regional Conference, Detroit, MI,
Sept. 12, 2016.
History 17NREC’s Concept
Enhance vehicle mobility and agility through a device
that changes from a wheel to track at speed
• Capture efficiency benefits of a wheel
• Obtain higher surface area that a track affords
A Novel Wheel-Track Design 18Factors that Limit Vehicle Torque
Engine
• Not enough power delivered to wheels
Weight Distribution
• Not enough normal force
Friction
• Wheels slip on ground surface
Soil Shear
• Soil fails under vehicle
http://www.frc.ri.cmu.edu/projects/lri/scarab/images/WA_testing/gallery.html, https://i.ytimg.com/vi/Fyj4Q5khK9A/hqdefault.jpg,
https://www.budgetdirect.com.au/blog/how-to-get-your-car-unstuck-from-mud-or-sand.html
Terramechanics Background 75Mohr-Coulomb Criterion
• c is the soil cohesion
• Φ is the soil’s angle
of internal friction
Terramechanics Background 76Thrust
Multiply stress by area:
• Increase c, increase strength
• Increase φ, increase strength
Paul Muench Sean Laughery Grant Gerhart. Evaluating Vehicle Mobility Using Bekker’s Equations. PDF file. Aug. 21, 2000.
URL: www.dtic.mil/cgi-bin/GetTRDoc?AD=ADA457941
Terramechanics Background 77Thrust
Multiply stress by area:
• Increase c, increase strength
• Increase φ, increase strength
Slip term:
Paul Muench Sean Laughery Grant Gerhart. Evaluating Vehicle Mobility Using Bekker’s Equations. PDF file. Aug. 21, 2000.
URL: www.dtic.mil/cgi-bin/GetTRDoc?AD=ADA457941
Terramechanics Background 77Thrust
Multiply stress by area:
• Increase c, increase strength
• Increase φ, increase strength
Slip term:
Drawbar Pull:
• Difference between thrust and resistances
Paul Muench Sean Laughery Grant Gerhart. Evaluating Vehicle Mobility Using Bekker’s Equations. PDF file. Aug. 21, 2000.
URL: www.dtic.mil/cgi-bin/GetTRDoc?AD=ADA457941
Terramechanics Background 77Thrust
Multiply stress by area:
• Increase c, increase strength
• Increase φ, increase strength
Slip term:
Drawbar Pull:
• Difference between thrust and resistances
Pull coefficient:
Paul Muench Sean Laughery Grant Gerhart. Evaluating Vehicle Mobility Using Bekker’s Equations. PDF file. Aug. 21, 2000.
URL: www.dtic.mil/cgi-bin/GetTRDoc?AD=ADA457941
M.G. Bekker. Mechanics of Off-The-Road Locomotion. Institution of Mechanical Engineers James Clayton Lecture, July 10,
1962. URL: http://www.dtic.mil/dtic/tr/fulltext/u2/a457955.pdf
Terramechanics Background 77Semi Empirical Representations of
Terramecanic Properties
Compaction
Richard Goetz Sean Laughery Grant Gerhart. Bekker’s Terramechanics Model for Offroad Vehicle Research. PDF file. Aug. 18,
1999.
MotivationSemi Empirical Representations of
Terramecanic Properties
Bulldozing
M.G. Bekker. Mechanics of Off-The-Road Locomotion. Institution of Mechanical Engineers James Clayton Lecture, July 10,
1962. URL: http://www.dtic.mil/dtic/tr/fulltext/u2/a457955.pdf
MotivationSemi Empirical Representations of
Terramecanic Properties
Sinkage
Richard Goetz Sean Laughery Grant Gerhart. Bekker’s Terramechanics Model for Offroad Vehicle Research. PDF file. Aug. 18,
1999.
MotivationLow Ground Pressure is Vital for Traveling
on Soft Terrain
Ground pressure often directly correlates to percent
of traversable landscapes
William E. Willoughby Jody D. Priddy. “Clarification of vehicle cone index with reference to mean maximum pressure”. In: Journal of
Terramechanics 43.2 (Apr. 2006), pp. 85–96. URL: http://www.sciencedirect.com/science/article/pii/S0022489804001120,
Terramechanics Background 78Ground Pressure
Most simply: weight divided by contact patch
•
However, pressure is not constant under a body
• Mean Maximum Pressure
• Vehicle Cone Index
https://www.tekscan.com/force-plate-pressure-technology, D. Rowland. A Review of Vehicle Design for Soft Ground Operation.
5th International Conference for Terrain Vehicle Systems, 1975. URL: http://www.slideshare.net/wolfhag/tracked-vehicle-ground-
pressure
Terramechanics Background 79Comparison of Existing Technologies
HMMWV Example Vehicle M113
Weight: 2.75 tons Weight: 10 tons Weight: 13.6 tons
Wheel Width: 12.5 in Wheel/Track Width: 14 in Track Width: 15 in
Wheel Diameter: 37 in Wheel Diameter: 33 in Track Length: 105 in
Track Length: 100 in Track Pitch: 6 in
Track Pitch: 6 in Wheel Diameter: 23.62 in
Track Wheel Diameter: 20 in
http://www.military-today.com/trucks/hmmwv_images.htm
http://www.military-today.com/apc/m113_images.htm
Comparative Evaluation 80Comparison of Existing Technologies
Pull Coeficient [unitless]
MMP and VCI [psi]
Sinkage [in]
Comparative Evaluation 81Conclusions
There is a gap in current wheel track technology for a
device that can support a large vehicle and transition
at speed.
Cody Underwood, Military.com. ”Robotic Warriors: The Viper”. 2017-08-23. http://www.military.com/video/logistics-and-
supplies/military-equipment/robotic-warriors-the-viper/2625125923001.
Dan Laux and Jason Alef. Tire to Track Transforming System. PDF file. ISTVS 8th Americas Regional Conference, Detroit, MI,
Sept. 12, 2016.
Conclusion 82Conclusions
A reconfigurable wheel track would offer a greater
range of surface pressures compared to existing
devices
Conclusion 84Future Research
Incorporation of
grouser and suspension
research
Comparison of
analytical and empirical
models with
computational
Terramechanics
methods
Moreland, Scott. “Traction Processes of Wheels in Loose, Granular Soil.” Carnegie Mellon University. 2013.
M. Mahomodi-Kaleibar, I. Javanshir, K. Asadi, A. Afkar, A. Paykani. “Optimization of suspension system of off-road vehicle for
vehicle performance improvement.” Journal of South University. 2013.
Conclusion 85Thank You
Dimi
for encouraging me to pursue my research as far as it could take me, from Russia to Windows XP.
Dave, Venkat
for guiding me through the academic research process.
Rich, Matt, Ed, Karl, Steve, John
for showing me how professional a professional engineering team operates.
Eugene, Nishant, Dave, Sherman, Graham, Andrew
for translating, being soundboards for ideas and teaching me new skills.
The Entire NREC Team
for being incredibly welcoming and helpful.
B.J., Suzanne, Alan, and CMU RI
for enabling my research to happen.
My Professors, Mentors, Family and Friends
for your limitless support.
Thank You 89You can also read
