Wheel rolling on deformable ground with slippage

Wheeled vehicles can move not only on a solid supporting surface, but also on deformable surfaces (snow, ground, sand, etc.). When a pneumatic wheel with a high internal air pressure rolls over deformable soil, the nature of the wheels’ interaction with the ground is such that the wheel can be considered rigid, since its normal deformation is small. This greatly simplifies the calculations associated with the analysis of the wheeled vehicles’ operation, taking into account the transforming properties of the wheel mover, in particular, the determination of the kinematic and power parameters of the wheel. In this paper, using the method of motion reversal, the picture of physical phenomena in the contact of the wheel with the ground is considered, which made it possible to obtain relatively simple expressions for calculating the circumferential traction force and the coefficient of tangential elasticity of the “wheel - deformable ground” pair