A new approach to realize the wheel-soil interaction simulation was proposed which applied the large-scale multibody contact problem and vehicle terramechanics theory. Using this method, we developed a wheel-soil simulation module in self-developed multibody dynamics simulation platform. Based on modeling of soil and wheel-soil contact, the computational implementation for wheel sinkage was depicted in detail. According to records, it needs only 20 min to simulate the motion of wheel-soil testbed system about 30?s on a microcomputer with general configuration. Under similar conditions simulation and experimental results have good consistency. This indicates that the simulation algorithm could meet the requirement of off-road driving simulation.
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左艳蕊,宗志坚,刘忠途,程源,樊世超.基于多体接触碰撞的松软地面车轮沉陷仿真[J].农业机械学报,2009,40(10):33-38. of Wheel Sinkage on Soft Terrain Based on Multibody Contact Problem[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(10):33-38.