An Evaluation of Wheel-Track Systems: Abridged …€¦ · >200,000x as of 2016 ... Spicer...

An Evaluation of Wheel-Track Systems: Abridged Version for

Introduction to Robotics Course

Hannah LynessMSR Thesis Presentation

Committee: Dimitrios Apostolopoulos (Head), David Wettergreen, Venkat Rajagopalan

Presentation Outline

Introduction Motivation Research Question Technology History A Novel Wheel-Track Design Prototype Testing Terramechanics Background Comparative Evaluation Conclusion

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

Lower system losses

Tracks

Introduction 3

Wheels

Lower system losses

Lower acoustic signature

Reduced fuel consumption

Tracks

Introduction 3

Wheels

Lower system losses

Tracks

Larger contact surface patch

Introduction 3

Wheels

Lower system losses

Tracks

Reduced sinkage

Increased stability while firing

Introduction 3

Wheels

Lower system losses

Lower resistance to turning

Tracks

Reduced sinkage

Increased stability while firing

Formatted for point turns

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

Motivation 4

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/

Mobility is Key for Military Vehicles

Motivation

Increasing number of battles fought in cities

https://www.haaretz.com/middle-east-news/isis-controlled-ramadi-facing-final-iraqi-army-assault-1.5382116

Bradley Fighting Vehicle

2,895x as of 2016

M1 Abrams

6,000x as of 2016

M1126 Stryker

<100x as of 2016

Vehicle Configuration Varies Greatly Across Armies

>200,000x as of 2016

The Green Book 2017-2017. Oct. 2016. URL: http://digimag.ausa.org/publication/?i=338032#, http://www.military.com/equipment/high-mobility-multipurpose-wheeled-vehicle-hmmwv, https://www.goarmy.com/about/army-vehicles-and-equipment/tanks-and-fighting-vehicles.html, http://www.businessinsider.com/m1-abrams-tank-is-still-king-of-the-battlefield-2016-2, http://www.baesystems.com/en-us/product/bradley-fighting-vehicle

Motivation 6

Research Question

How can we design and evaluatedevices that combine the benefits

of both wheels and tracks?

Research Question 7

Research 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 8

Beginning 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 9

Early Technological Milestones

Volcanized Rubber: 1844

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.

The Pneumatic Tire: Popularized 1894

History 10

Early 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 11

Start 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 12

Early Track Designs

Interconnected Units:1950s

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.

Continuous Track: 1960s

History 13

Alternative Wheel Designs

The Resilient Wheel: 1909

William L. Martin. “Resilient Wheel”. US 927154. July 6, 1909.Francois Hottebart. “Nonpneumatic deformable wheel”. US 6170544. Jan. 9, 2001.

The Nonpneumatic Wheel: 2001

History 14

Alternative 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 15

Hybrid Designs

Over Tire Tracks: 1955

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/

Track N Go: 2013

History 16

Hybrid Designs

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.

Elbit VIPeR:2009

Mattracks 4TS Tire-Track: 2014

History 17

NREC’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 18

Factors 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 75

Mohr-Coulomb Criterion

• c is the soil cohesion• Φ is the soil’s angle

of internal friction

Thrust

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

Thrust

Slip term:

Thrust

Slip term: Drawbar Pull:

• Difference between thrust and resistances

Thrust

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=ADA457941M.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

Semi 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.

Motivation

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

Motivation

Sinkage

Richard Goetz Sean Laughery Grant Gerhart. Bekker’s Terramechanics Model for Offroad Vehicle Research. PDF file. Aug. 18, 1999.

Motivation

Low Ground Pressure is Vital for Traveling on Soft Terrain

Ground pressure often directly correlates to percent of traversable landscapes

Terramechanics Background

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,

Ground 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

Weight: 2.75 tonsWheel Width: 12.5 in

Wheel Diameter: 37 in

Example Vehicle

Weight: 10 tonsWheel/Track Width: 14 in

Wheel Diameter: 33 inTrack Length: 100 in

Track Pitch: 6 inTrack Wheel Diameter: 20 in

Weight: 13.6 tonsTrack Width: 15 in

Track Length: 105 inTrack Pitch: 6 in

Wheel Diameter: 23.62 in

Comparison of Existing Technologies

Comparative Evaluation 80

http://www.military-today.com/trucks/hmmwv_images.htmhttp://www.military-today.com/apc/m113_images.htm

Comparison of Existing Technologies

Comparative Evaluation 81

Conclusions

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 82

Conclusions

A reconfigurable wheel track would offer a greater range of surface pressures compared to existing devices

Conclusion 84

Future 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 85

Thank YouDimi

for encouraging me to pursue my research as far as it could take me, from Russia to Windows XP.

Dave, Venkatfor guiding me through the academic research process.

Rich, Matt, Ed, Karl, Steve, Johnfor 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 Teamfor being incredibly welcoming and helpful.

B.J., Suzanne, Alan, and CMU RIfor enabling my research to happen.

My Professors, Mentors, Family and Friendsfor your limitless support.

Thank You 89

An Evaluation of Wheel-Track Systems: Abridged …€¦ · >200,000x as of 2016 ... Spicer...

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