Unification and Application of Wheel Traction Models in Multiple Terrain Conditions

Unification and Application of Wheel Traction Models in Multiple Terrain Conditions | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Unification and Application of Wheel Traction Models in Multiple Terrain Conditions Liang Ding, Lan Huang, Huaiguang Yang, Sen Liu, Xiao Gong, Huanan Qi, and 4 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7893018/v1 This work is licensed under a CC BY 4.0 License Status: Under Revision Version 1 posted 11 You are reading this latest preprint version Abstract Outdoor wheeled mobile manipulators dynamically interact with both manipulated objects and the underlying terrain, which may experience wheel-induced shearing and flow. Terramechanics models describe wheel-terrain interaction stresses precisely, but fail to show the wheel tractive mechanics intrinsically. Through experimental investigation, this paper establishes a linear relationship between wheel driving torque and traction across terrains of varying deformability. We conceptualize wheel-induced soil flow as comprising two components: a rim-adherent synchronous rotation flow that extends the effective lever arm of drawbar pull, and a counter-directional shear flow that induces wheel slowdown. This framework elucidates velocity and traction losses from particle displacement. A unified wheel traction model is proposed, incorporating fluctuations induced by wheel lugs. Experimental validation confirms the model's accuracy, while its online parameter identification enhances superior adaptation efficiency to terrain variations compared to terra-mechanics models. Based on this framework, speed, traction, and energy losses due to terrain deformation are precisely predicted, thereby facilitating an analytical loss function for wheeled mobile manipulator optimization. The model also demonstrates potential for traction control applications in wheeled mobile platforms. Mobile manipulators traction interaction model deformable terrain terramechanics Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Revision Version 1 posted Editorial decision: Revision requested 19 Mar, 2026 Reviews received at journal 13 Mar, 2026 Reviews received at journal 08 Mar, 2026 Reviewers agreed at journal 12 Feb, 2026 Reviewers agreed at journal 09 Feb, 2026 Reviews received at journal 15 Dec, 2025 Reviewers agreed at journal 24 Nov, 2025 Reviewers invited by journal 20 Nov, 2025 Editor assigned by journal 11 Nov, 2025 Submission checks completed at journal 11 Nov, 2025 First submitted to journal 18 Oct, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-7893018","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":549814866,"identity":"922daee6-db04-45bc-be07-b1d00c4b132f","order_by":0,"name":"Liang Ding","email":"","orcid":"","institution":"Harbin Institute of Technology","correspondingAuthor":false,"prefix":"","firstName":"Liang","middleName":"","lastName":"Ding","suffix":""},{"id":549814867,"identity":"b4ee6138-0a01-4fd4-9262-8b290763c004","order_by":1,"name":"Lan Huang","email":"","orcid":"","institution":"Harbin Institute of 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Terramechanics models describe wheel-terrain interaction stresses precisely, but fail to show the wheel tractive mechanics intrinsically. Through experimental investigation, this paper establishes a linear relationship between wheel driving torque and traction across terrains of varying deformability. We conceptualize wheel-induced soil flow as comprising two components: a rim-adherent synchronous rotation flow that extends the effective lever arm of drawbar pull, and a counter-directional shear flow that induces wheel slowdown. This framework elucidates velocity and traction losses from particle displacement. A unified wheel traction model is proposed, incorporating fluctuations induced by wheel lugs. Experimental validation confirms the model's accuracy, while its online parameter identification enhances superior adaptation efficiency to terrain variations compared to terra-mechanics models. 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