Wheel rolling on deformable ground with slippage

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