Abstract This paper visualizes and analyzes an effect of a wheel camber angle for the slope traversability in sandy terrain. An in-wheel camera developed in this work captures the wheel-soil contact phenomenon generated beneath the wheel through a transparent section of the wheel surface. The images taken by the camera are then analyzed using the particle image velocimetry. The soil flows with various wheel camber angles are analyzed with regard to the soil failure observed on the slope surface. The analysis reveals that the slope failure and soil accumulation in front of the wheel significantly affect the wheel forces and distributions of the wheel sinkage in the wheel width direction. Further, the side force of the wheel in traversing a slope decreases as the slip ratio increases because the shear stress in the slope downward direction decreases owing to the slope failure.

中文翻译：

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使用轮内摄像头对斜坡可通行性的车轮外倾角效应进行可视化和分析

摘要 本文可视化并分析了车轮外倾角对沙地坡度可通过性的影响。在这项工作中开发的轮内相机通过车轮表面的透明部分捕捉车轮下方产生的车轮与土壤接触现象。然后使用粒子图像测速法分析相机拍摄的图像。针对在坡面上观察到的土体破坏，分析了具有不同车轮外倾角的土体流动。分析表明，车轮前方的边坡破坏和土壤堆积显着影响车轮力和车轮下沉在车轮宽度方向上的分布。更多，