In 2020 I constructed a testbed in my apartment for measuring wheel-soil interaction forces. This testbed is modeled on one developed at NASA Ames, and is fabricated nearly entirely with rapid prototyping methods and precut material. The testbed has a 6-axis force-torque sensor, four motors for controlling a soil preparation mechanism and wheel travel speed, rotational speed, and angle, and wheel depth measurement. It contains 4kg of PLA worth of custom brackets and mounts and about 250 lbs of sand.
I use this testbed in my work modeling wheel-soil interaction forces for Nonprehensile Terrain Manipulation.
Catherine Pavlov 