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Wheel and Tracklaying Tractors
94 c o u n t r y m o b i l i t y a l s o i n v o l v e s a b i l i t y co c r o s s water o b s t a c l e • , some i d e a i • given of the water r e s i s t a n c e o£ t h e h u l l s of c h a s e ' u s - s h i p - s h a p e ' forms when a ~ l o a t , and t h e o v e r a l l e f f i c i e n c y t h a c may be e x p e c t e d from t h e v a r i o u s means of p r o p u l s i o n t h a c can be employed. 58. Co~roa, G.T. " The S o i l S h e a r g r a p h " . A s . S a c . o / A~r.F.ngr. J u n e i ~ 2 , 59. C o x . A . n , " Axially-symmeuric plastic deformation i~ soils: Pare II, Indancacion of ponder-
able so£1s". Internat.j.Mech.Sci. 4, Sept./Oct.1962. U s i n g p r e v i o u s t h e o r y by Cox, Kcson end Hopkins (1961) f o r a x i a l l y - s y m m e t r i c p l a s t i c d e t o r m a t i o n i n i d e a l s o i l s , a u t h o r o b t a i n e d s o l u t i o n s by d i g i t a l computer f o r mean y i e l d p r e s s u r e o f smooth, r i S i d , f i s t - e n d e d punch on c o h e s i v e - f r i c t i o n a l soil .ith weight. S o l u t i o n s f o r s t r i p and c i r c u l a r punch show i m p o r t a n c e o£ w e i g h t on y i e l d p r e s s u r e end characteristic n e c , a s s u m i n g Hear-Karmas r e g i m e s in a x i a l l y - s y m m e t r i c problem. V e l o c i t y f i e l d f a r c o m p l e t e s o l u t i o n h a s noC been d e t e r m i n e d . Moreover, s o l u t i o n f o r rough punch
is required Is.s. geyerhof, ~ o t e c ~ q u e , 2, p.301,1951;'5 p.227, 1955; A ~ S(1952), Bey. 2202; g(19S6), Bey. 2402] before results can be applied co problem• of bearinj capacity of f o u n d a t i o n s , end volume c h a n c e s o f s o i l have to be c o n s i d e r e d . 60. ~ w r i . L L a O . S c h u r i n s . " Model S t u d y i n Earchwork~n S E q u i p m e n t " . G.M.Defense L a b o r a t o r -
ies, •Sunto Barbara, Cal., presented to AS/~, March 1964. D i m e n s i o n a l a n a l y s e • i a a p p l i e d to s o i l b u l l d o z i n g and p l a t e p e n e t r a t i o n tests with enc o u r e a i n ~ r a e u l ca. 61. F r ~ t ~ a l , A . I t . & S p / U e r s , i . R . " S o l u t i o n s f o r t h e i n f i n i t e l a y e r and t h e h a l f - s p a c e
for quasi-static consolidating elastic and viscoelasclc media". J.Avp~.Phys., ~pt. 1962.
33, 9,
T h i s hi@hly m c c h e m e t i c e l p a p e r e x p l o i t s L a p l a c e t r a n s f o r m t e c h n i q u e s to s o l v e t h e d i f ferential equatlons jovernin s consolidated-elastic and c o n s o l i d a t e d - v i s c o e l a s t i c medin. 62. @oodmn, L . L & L A . L / s t ~ 0 a , " P r o b l e m o f o f f - r o a d T r a n s p o r t a t i o n ' . J o u r n a l o f t h e H ~ g ~ u ~ D~s~on, Prec. A~, Jan. i~4. This paper iat r e v i e w of t h e u s e o f s o i l p r o p e r t i e s in v e h i c l e m o b i l i t y e v a l u a t i o n end r e s e a r c h s u p p o r t e d by t h e Land Locomotion L a b o r a t o r y .
63. G ~ , A .
" Wheel and Tracklayi~g Tractors". Sta~;n£ Zemedetske Maktack~tetstv~, Prague,
1963. 64. Ik~taes,D.J. & Ollsrtoa, E. " Contact Stress DiscriJ~ucion on Elliptical Sttr£aces Subjected co l~dial and Tangential Forces". Inst.N~ch.~agr.(~.copy), Szp~.1962. The p r o b l e m o f Hercz~en b o d i e s in r o l l i n s c o n t a c t cud s u p p o r t i n S r a d i a l and 8 h ~ e r i n g f o r c e s in t h e r o l l i n ~ d i r e c t i o n i s c o n c i d e r e d . A m o d i f i e d form of t h e c o n v e n t i o n a l p h o t o - e l a s t i c f r o z e n - s t r e s s t e c h n i q u e h a • been u s e d to s t u d y t h e p a r t i c u l a r c a n of f i s t , e l l i p t i c a l , c o n t a c t s u r f a c e s . E x i s t i n ~ t h e o r i e s are r e v i e w e d , and new t h e o r i e s a r e p r e s e n t e d which p e r m i t a n a l y s i s o~ t h e f r o z e n - s t r e s s r e s u l t s . The dependence o f t h e m e a s u r e d s t r e s s e s on t h e h y s t e r e s i s o f r o l l i n ~ i a s t u d i e d . 65. llonl,g.M. & D e e r e , D.U. " F r i c t i o n a l c h a r a c t e r i s t i c s o~ m i n e r a l s " Geotechn~que, Lon~on ! 2 , ~ ,
Dec. i ~ 2 . Fundamental d a t a a r e r e p o r t e d from d i r e c t s h e e r t e a t s run u n d e r v a r i o u s m o i s t u r e c o n d i t i o n s and u n d e r s a t u r a t i o n w i t h v a r i o u s l i q u i d s . For t e s t a on smooth s u r f a c e , m o i s t u r e i n c r a n e d f r i c t i o n of m a s s i v e - s t r u c t u r e d m i n e r a l s ( q u a r t z , f e l d s p a r end c a l c i t e ) and d e c r e a s e d f r i c t i o n of m i n e r a l 8 w i t h l a y e r - l a t t i c e s ~ r u c t u r c a (mica, c h l o r i t e , s e r p e n t i n e and t a l c ) . K i n e t i c f r i c t i o n we• a p p r e c i a b l y l e e s t h a n s t a t i c f r i c t i o n o n l y f o r q u a r t z s a t u r a t e d w i t h a h £ s h ] y p o l a r f l u i d . I n c r e e s i n f f t h e r a ~ s o f s h e a r from o . ? to 6 £n./m£n. i n c r e a s e d t h e s h e a r r e a i a t a n c e o f mica b u t had no e f f e c t on m a s s i v e - s t r u c t u r e d m i n e r a l s . The a n t i l u b r i c a t i o n o f m a s c a r a - s t r u c t u r e d m i n e r a l s was ~ r e a t e r f o r p o l a r m i n e r a l s ( w a t e r , e t h y l e n e S | y c o ] and amylamine) t h a n f o r n o n p o J a r l i q u i d s ( c a r b o n ~ e t r a c h l o r i d c and d e c a h y d r o n a p h the/anal. Surfcce roushness decreased antilubrication e ~ f e c t a ; w a t e r had no e f f e c t on t h e d r a i n e d s h e a r s~ren~Ch o f q u a r t • s a n d . However, t h e d r a i n e d s h e a r s t r e n g t h o f powdered m u s c o v i t e was markedly r e d u c e d by s a t u r a t i o n . 66. l t v o r s l e v , M.J. " The B a s i c $~nkage E q u a t i o n s and B e a n n g ~ a ~ c i c y T n e o r i e s " . U.S.Army E n g i n e e r Waterways ~zpt. San. Corps of F.ng~ne~rs0 IJobil~ty C o n s u t ~ o n t s Conference, IVan.
1963. The d e f i c i e n c i e s of t h e pekz n a i n k a ~ e q u a t i o n i • p o i n t e d o u t . P o a e i b l e improvements a r e s u Z g o e t c d on t h e b a s i s o f bmcrin8 c a p a c i t y f o r m u l a e and by u s e of l a r ~ a l n k c p p l a t e s , The need f o r f u t u r e r e e e a r c h £n p r e d i c t i n g v e h i c l e b c h a v i o u r from p l a t e t e s t • £a o u t l i n e d . 67. J l n d r a . F . " T r a c t o r and S e m i - T r a ~ l e r H a t c h i n g " . A u t o . F ~ g r . , Yo~.~3, No. li, O c t . l ~ 3 . A s i m p l i f i e d a n a l y s i s i • p r e e e n t e d o~ t h e d i r e c t i o n a l a c a b i l l c y of a t r a c t o r / s e m i - t r a i l e r c o m b i n a t i o n n e g o C i a t i n z a f l a t t u r n a t c o n s t a n t s p e e d and in • t o a d y s t a t e . The c o m b i n a t i o n £s c r e a t e d aa • l i n e a r dynamic s y s t e m with only t h r e e d e g r e e s of freedom, v i e . s i d e - s l i p and yaw o f t h e t r a c t o r end yaw a n s ] e of t h e e e m i - ~ r a i ] e r with r e s p e c t to t h e t r a c t o r .
able so£1s". Internat.j.Mech.Sci. 4, Sept./Oct.1962. U s i n g p r e v i o u s t h e o r y by Cox, Kcson end Hopkins (1961) f o r a x i a l l y - s y m m e t r i c p l a s t i c d e t o r m a t i o n i n i d e a l s o i l s , a u t h o r o b t a i n e d s o l u t i o n s by d i g i t a l computer f o r mean y i e l d p r e s s u r e o f smooth, r i S i d , f i s t - e n d e d punch on c o h e s i v e - f r i c t i o n a l soil .ith weight. S o l u t i o n s f o r s t r i p and c i r c u l a r punch show i m p o r t a n c e o£ w e i g h t on y i e l d p r e s s u r e end characteristic n e c , a s s u m i n g Hear-Karmas r e g i m e s in a x i a l l y - s y m m e t r i c problem. V e l o c i t y f i e l d f a r c o m p l e t e s o l u t i o n h a s noC been d e t e r m i n e d . Moreover, s o l u t i o n f o r rough punch
is required Is.s. geyerhof, ~ o t e c ~ q u e , 2, p.301,1951;'5 p.227, 1955; A ~ S(1952), Bey. 2202; g(19S6), Bey. 2402] before results can be applied co problem• of bearinj capacity of f o u n d a t i o n s , end volume c h a n c e s o f s o i l have to be c o n s i d e r e d . 60. ~ w r i . L L a O . S c h u r i n s . " Model S t u d y i n Earchwork~n S E q u i p m e n t " . G.M.Defense L a b o r a t o r -
ies, •Sunto Barbara, Cal., presented to AS/~, March 1964. D i m e n s i o n a l a n a l y s e • i a a p p l i e d to s o i l b u l l d o z i n g and p l a t e p e n e t r a t i o n tests with enc o u r e a i n ~ r a e u l ca. 61. F r ~ t ~ a l , A . I t . & S p / U e r s , i . R . " S o l u t i o n s f o r t h e i n f i n i t e l a y e r and t h e h a l f - s p a c e
for quasi-static consolidating elastic and viscoelasclc media". J.Avp~.Phys., ~pt. 1962.
33, 9,
T h i s hi@hly m c c h e m e t i c e l p a p e r e x p l o i t s L a p l a c e t r a n s f o r m t e c h n i q u e s to s o l v e t h e d i f ferential equatlons jovernin s consolidated-elastic and c o n s o l i d a t e d - v i s c o e l a s t i c medin. 62. @oodmn, L . L & L A . L / s t ~ 0 a , " P r o b l e m o f o f f - r o a d T r a n s p o r t a t i o n ' . J o u r n a l o f t h e H ~ g ~ u ~ D~s~on, Prec. A~, Jan. i~4. This paper iat r e v i e w of t h e u s e o f s o i l p r o p e r t i e s in v e h i c l e m o b i l i t y e v a l u a t i o n end r e s e a r c h s u p p o r t e d by t h e Land Locomotion L a b o r a t o r y .
63. G ~ , A .
" Wheel and Tracklayi~g Tractors". Sta~;n£ Zemedetske Maktack~tetstv~, Prague,
1963. 64. Ik~taes,D.J. & Ollsrtoa, E. " Contact Stress DiscriJ~ucion on Elliptical Sttr£aces Subjected co l~dial and Tangential Forces". Inst.N~ch.~agr.(~.copy), Szp~.1962. The p r o b l e m o f Hercz~en b o d i e s in r o l l i n s c o n t a c t cud s u p p o r t i n S r a d i a l and 8 h ~ e r i n g f o r c e s in t h e r o l l i n ~ d i r e c t i o n i s c o n c i d e r e d . A m o d i f i e d form of t h e c o n v e n t i o n a l p h o t o - e l a s t i c f r o z e n - s t r e s s t e c h n i q u e h a • been u s e d to s t u d y t h e p a r t i c u l a r c a n of f i s t , e l l i p t i c a l , c o n t a c t s u r f a c e s . E x i s t i n ~ t h e o r i e s are r e v i e w e d , and new t h e o r i e s a r e p r e s e n t e d which p e r m i t a n a l y s i s o~ t h e f r o z e n - s t r e s s r e s u l t s . The dependence o f t h e m e a s u r e d s t r e s s e s on t h e h y s t e r e s i s o f r o l l i n ~ i a s t u d i e d . 65. llonl,g.M. & D e e r e , D.U. " F r i c t i o n a l c h a r a c t e r i s t i c s o~ m i n e r a l s " Geotechn~que, Lon~on ! 2 , ~ ,
Dec. i ~ 2 . Fundamental d a t a a r e r e p o r t e d from d i r e c t s h e e r t e a t s run u n d e r v a r i o u s m o i s t u r e c o n d i t i o n s and u n d e r s a t u r a t i o n w i t h v a r i o u s l i q u i d s . For t e s t a on smooth s u r f a c e , m o i s t u r e i n c r a n e d f r i c t i o n of m a s s i v e - s t r u c t u r e d m i n e r a l s ( q u a r t z , f e l d s p a r end c a l c i t e ) and d e c r e a s e d f r i c t i o n of m i n e r a l 8 w i t h l a y e r - l a t t i c e s ~ r u c t u r c a (mica, c h l o r i t e , s e r p e n t i n e and t a l c ) . K i n e t i c f r i c t i o n we• a p p r e c i a b l y l e e s t h a n s t a t i c f r i c t i o n o n l y f o r q u a r t z s a t u r a t e d w i t h a h £ s h ] y p o l a r f l u i d . I n c r e e s i n f f t h e r a ~ s o f s h e a r from o . ? to 6 £n./m£n. i n c r e a s e d t h e s h e a r r e a i a t a n c e o f mica b u t had no e f f e c t on m a s s i v e - s t r u c t u r e d m i n e r a l s . The a n t i l u b r i c a t i o n o f m a s c a r a - s t r u c t u r e d m i n e r a l s was ~ r e a t e r f o r p o l a r m i n e r a l s ( w a t e r , e t h y l e n e S | y c o ] and amylamine) t h a n f o r n o n p o J a r l i q u i d s ( c a r b o n ~ e t r a c h l o r i d c and d e c a h y d r o n a p h the/anal. Surfcce roushness decreased antilubrication e ~ f e c t a ; w a t e r had no e f f e c t on t h e d r a i n e d s h e a r s~ren~Ch o f q u a r t • s a n d . However, t h e d r a i n e d s h e a r s t r e n g t h o f powdered m u s c o v i t e was markedly r e d u c e d by s a t u r a t i o n . 66. l t v o r s l e v , M.J. " The B a s i c $~nkage E q u a t i o n s and B e a n n g ~ a ~ c i c y T n e o r i e s " . U.S.Army E n g i n e e r Waterways ~zpt. San. Corps of F.ng~ne~rs0 IJobil~ty C o n s u t ~ o n t s Conference, IVan.
1963. The d e f i c i e n c i e s of t h e pekz n a i n k a ~ e q u a t i o n i • p o i n t e d o u t . P o a e i b l e improvements a r e s u Z g o e t c d on t h e b a s i s o f bmcrin8 c a p a c i t y f o r m u l a e and by u s e of l a r ~ a l n k c p p l a t e s , The need f o r f u t u r e r e e e a r c h £n p r e d i c t i n g v e h i c l e b c h a v i o u r from p l a t e t e s t • £a o u t l i n e d . 67. J l n d r a . F . " T r a c t o r and S e m i - T r a ~ l e r H a t c h i n g " . A u t o . F ~ g r . , Yo~.~3, No. li, O c t . l ~ 3 . A s i m p l i f i e d a n a l y s i s i • p r e e e n t e d o~ t h e d i r e c t i o n a l a c a b i l l c y of a t r a c t o r / s e m i - t r a i l e r c o m b i n a t i o n n e g o C i a t i n z a f l a t t u r n a t c o n s t a n t s p e e d and in • t o a d y s t a t e . The c o m b i n a t i o n £s c r e a t e d aa • l i n e a r dynamic s y s t e m with only t h r e e d e g r e e s of freedom, v i e . s i d e - s l i p and yaw o f t h e t r a c t o r end yaw a n s ] e of t h e e e m i - ~ r a i ] e r with r e s p e c t to t h e t r a c t o r .