Understanding tire/road stick-slip interactions with embedded rubber force sensors

Author

Zhang, Yizhai ; Allen, Austin W. ; Yi, Jingang ; Liu, Tao

Author_Institution

Dept. of Mech. & Aerosp. Eng., Rutgers Univ., Piscataway, NJ, USA

fYear

2012

fDate

11-14 July 2012

Firstpage

550

Lastpage

555

Abstract

Pneumatic tires are widely used for mobile robots and vehicles. Tire/road interactions play an important role in the safe operation and design of these systems. In this paper, we focus on the tire/road contact problem and study the stick-slip interactions between the stationary tire and the firm road. A pressure-sensitive, electric conductive rubber sensor is embedded inside the tire rubber layer to measure the force distributions. We analyze the frictional forces and deformation distributions using a cantilever beam-based modeling approach. The analytical results explain the stick-slip evolution between the tire and the road. The analyses and models are also validated by experiments.

Keywords

beams (structures); cantilevers; deformation; electrical conductivity; force measurement; force sensors; mobile robots; pneumatic systems; pressure sensors; road vehicles; stick-slip; tyres; cantilever beam-based modeling; deformation distribution; electric conductive rubber sensor; embedded rubber; force distribution measurement; force sensor; frictional force; mobile robot; pneumatic tire; pressure sensor; road vehicle; stick-slip interaction; tire-road interaction; Force; Friction; Roads; Robot sensing systems; Rubber; Tires;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on

Conference_Location

Kachsiung

ISSN

2159-6247

Print_ISBN

978-1-4673-2575-2

Type

conf

DOI

10.1109/AIM.2012.6265935

Filename

6265935