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An Evaluation of Wheel-Track Systems: Abridged Version for Introduction to Robotics Course Hannah Lyness MSR Thesis Presentation

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An Evaluation of Wheel-Track Systems: Abridged Version for Introduction to Robotics Course Hannah Lyness MSR Thesis Presentation 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 5 Vehicle Configuration Varies Greatly Across Armies HMMWV M1126 Stryker >200,000x as of 2016 <100x as of 2016 M1 Abrams Bradley Fighting Vehicle 6,000x as of 2016 2,895x 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 evaluate devices 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: 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 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: 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 13 Alternative 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 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: 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 16 Hybrid 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 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
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