Mechanics of wheel-soil interaction

An approximate theory for wheel-soil interaction is presented which forms the basis for a practical solution to the problem. It is shown that two fundamental observations render the problem determinate: (1) The line of action of the resultant of radial stresses acting at the wheel soil interface approximately bisects the wheel-soil contact angle for all values of slip. (2) A shear stress surface can be hypothesized. The influence of soil inertia forces is also evaluated. A concept of equivalent cohesion is introduced which allows a convenient experimental comparison for both cohesive and frictional soils. This theory compares favorably with previous analyses and experimental data, and shows that soil inertia forces influencing the motion of a rolling wheel can be significant.