The mobility of a planetary vehicle has numerous constraints
imposed by the types of terrain. Navigation is
difficult through uneven and rocky terrain, and becomes
worse due to abrupt changes of ground level which may
cause a fall to a lower ground level. This article examines
the effect of the soil’s parameters change due to repetitive
falls on the vehicle’s dynamic behavior. After each
free fall of the vehicle there is a collision of the vehicle’s
wheel with the ground. If the ground is made up of soft
soil there is an increase in the soil compactness after each
collision. The increase in the soil compactness causes a
change in the soil parameters. These changes modify the
algorithm’s parameters of the vehicle’s dynamic model.
The dynamic model is a quarter vehicle model with single
rigid wheel which falls on soft soil. Simplified forms
of the Pressure-Sinkage models of Bekker and Reece for
the sinkage of a rigid body into soft soil are incorporated
in the numerical solution of the governing equations of
motion. The dynamic interaction of a rigid wheel and soft
soil has three stages: sinkage stage, wheel dwell stage,
and wheel pullout from soil stage. By comparing the
simulations results when the soil’s parameters are kept
constant and when their changes are incorporated in the
dynamic model showed that the difference in the dynamic
response are not significant and can be neglected. There
is a gradual change in the dynamic mechanical quantities
when the soil’s parameters are kept constant, while the
changes in the dynamic mechanical quantities between
the second fall and the successive falls are small.
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