A Proposal of a New Model of Wheel and Tractor Dynamics that Includes Lift Resistance

The purpose of this study is to propose a new dynamic model of wheels and agricultural tractors through verification of the existence of " lift resistance " and "perpendicular adhesion" which also can be called " contra-retractive adhesion". The existence of these forces was proved through experiments including the development of a sensor which can measure the forces acting on a wheel accurately. Consequently " perpendicular adhesion ratio" which is defined as the ratio of the perpendicular adhesion to the distributed load was observed to be in the range of 0.05 to 0.3. This means the influence of the " lift resistance " is comparable to that of motion resistance in wheel dynamics. The perpendicular adhesion ratio was observed to decrease logarithmically with the increase of ground contact pressure, and to increase linearly with increase of the travel speed of the wheel . Some examples to express the new dynamic model compared to the conventional dynamics are explained.