Mathematical Modeling of the Interaction Between Propulsion Systems of High-Mobility Ground Robotic Systems and Soil

Abstract

This study focuses on improving the off-road performance of ground and hybrid mobile robotic systems (MRS) operating under challenging terrain and surface conditions, particularly on soft soils and uneven surfaces. The focus is on the development of mathematical models and computer simulation of the interaction between different types of propulsion systems  wheeled and tracked - and the terrain. A methodology for evaluating contact interaction, taking into account the nonlinear properties of materials and complex geometrical shapes, is proposed. In particular, a series of numerical experiments was conducted in ANSYS (Transient Structural module), simulating the deformation interaction of wheeled and tracked propulsion systems with the soil. To enhance the reliability of the results, an orthotropic soil model was used, reflecting its layered structure and anisotropy of mechanical properties, along with exponentially nonlinear characteristics of rubber determined from experimental stress–strain curves. This approach allowed for a mathematical description of the complex process of contact patch formation, evaluation of stress and pressure distribution within the contact zone, and determination of the patterns of contact area and settlement changes under applied external loads. The practical significance of this work lies in the possibility of using the developed models during the design phase of robotic systems, particularly for predicting traction performance, estimating energy consumption, and optimizing mobility parameters under various terrain conditions.