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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
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
Lower system losses
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
Lower system losses
Lower acoustic signature
Reduced fuel consumption
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
Lower system losses
Lower acoustic signature
Reduced fuel consumption
Tracks
Larger contact surface patch
“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
Lower system losses
Lower acoustic signature
Reduced fuel consumption
Tracks
Larger contact surface patch
Reduced sinkage
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
Lower system losses
Lower acoustic signature
Reduced fuel consumption
Lower resistance to turning
Tracks
Larger contact surface patch
Reduced sinkage
Increased stability while firing
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
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
5
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
HMMWV
>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
Terramechanics Background 76
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
Terramechanics Background 77
Thrust
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 77
Thrust
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 77
Thrust
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=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
Terramechanics Background 77
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
Semi 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
Motivation
Semi 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.
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,
78
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
Terramechanics Background 79
HMMWV
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
M113
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
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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