A detailed multi-body model for dynamic simulation of off-road tracked vehicles

Rubinstein, D.; Hitron, R.

doi:10.1016/j.jterra.2004.02.004

Cited by 81 publications

(50 citation statements)

References 5 publications

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“…In this way, an increasing amount of slip is obtained as the disparity between the vehicle forward and sprocket angular velocity increases due to the applied force. It should be noted that in this investigation the drawbar pull force is applied at the centre of gravity of the chassis in the horizontal direction (Rubinstein and Hitron, 2004). The location of the applied drawbar force affects the resulting slip and so one must be careful when making comparisons to results reported in the literature.…”

Section: Motion Of the Tracked Vehiclementioning

confidence: 99%

“…Recently, multibody models which can account for the dynamic behaviour of the track chains and belts have been proposed (Ma and Perkins, 2006;Rubinstein and Hitron, 2004;Solis and Longoria, 2008;Yamakawa and Watanabe, 2004). For example, Ma and Perkins (2006) considered an approach which integrates a set of road wheels, the track, and the terrain into a single finite element super element which returns as output the forces and moments acting on the respective road wheels.…”

Section: Introductionmentioning

confidence: 99%

“…The majority of multibody-based terramechanics models of the dynamic interaction of the tracked vehicle interaction are force based. That is, the interaction between road wheels, track, and terrain is idealised into semi-empirical normal and shear forces that are incorporated into the dynamic model of the tracked vehicle; Rubinstein and Hitron (2004) presented one such model. Their work demonstrates that the MBS approach with force elements can produce results similar to what has been previously published using semi-empirical terramechanics models (e.g., Wong, 2010).…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Integration of ANCF continuum-based soil plasticity for off-road vehicle mobility in multibody system dynamics

Letherwood

Foster

Jayakumar

et al. 2017

IJVP

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Abstract:In this paper, we outline the formulation and implementation of an inelastic continuum-based soil model in a multibody system (MBS) simulation environment. The generality of the approach allows for the simulation of general vehicle manoeuvres over unprepared terrain. Unlike other approaches, both the material and vehicle in this investigation can be altered independently. This ability allows for a greater degree of freedom in the design of computational models for the evaluation of off-road tracked vehicles. In this investigation, the soil model is developed using a hexahedral absolute nodal coordinate formulation (ANCF) finite element. The Drucker-Prager plastic material is used to model the behaviour of the soil and offers a good starting point for computational plasticity in terramechanics applications. A convergence study for a single link interacting with ANCF soil is provided. The capabilities and generality of this implementation is demonstrated using an armoured personnel carrier (APC) model. Keywords: flexible multibody systems; MBS; multibody system; tracked vehicles; mobility; ANCF; absolute nodal coordinate formulation; terramechanics; computational plasticity; geomechanics.Reference to this paper should be made as follows: Contreras, U., Recuero, A.M., Jayakumar, P., Foster, C.D., Letherwood, M.D., Gorsich, D.J. and Shabana, A.A. (2017) 'Integration of ANCF continuum-based soil plasticity for off-road vehicle mobility in multibody system dynamics', Int.

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Section: Motion Of the Tracked Vehiclementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Integration of ANCF continuum-based soil plasticity for off-road vehicle mobility in multibody system dynamics

Letherwood

Foster

Jayakumar

et al. 2017

IJVP

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“…The multi-body kinematics study on crawler -terrain interactions in surface mining is non-existent. However, some researchers have carried out track-terrain interaction studies on military tracked vehicles and on hydraulic excavators [4][5][6].The purpose of this chapter is to simulate, under virtual field conditions,the3-D shovel crawler -terrain interaction kinematics using MSC.ADAMS and determine position, velocity and accelerations of each shoe for two types of shovel propel motions. The motions include translation only, and both translation and rotational.…”

Section: Introductionmentioning

confidence: 99%

Multi-Body Kinematics of Shovel Crawler Performance in Rugged Terrains

Frimpong¹,

Thiruvengadam²

2018

International Journal of Mining Science

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“…In addition, research has been performed modelling tracked vehicles on land surface soils. Rubinstein et al used the LMS-DADS simulation code to develop a 3D multi-body model of tracked off-road vehicles and applied user-written forces to represent the track-terrain interactions [9,10]. Gao and Wong (and others) developed two different dynamic simulation models, known as NTVPM and RTVPM, to parametrically model, analyse and evaluate various tracked vehicles with flexible tracks and long-pitch tracks [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

A New Multi-Body Dynamic Model for Seafloor Miner and Its Trafficability Evaluation

Dai¹,

Zhu²,

Chen³

et al. 2015

Int. j. simul. model.

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In this paper, the particular mechanical interaction relationships between a seafloor tracked miner and the sediment are obtained through laboratory-simulated experiments. Underwater sediments exhibit entirely different shear properties compared to land surface soils. An innovative user-written subroutine for characterizing the mechanical models of various soil types is compiled and linked to the RecurDyn simulation environment and then validated against an available commercial program and with laboratory tests. A new three-dimensional multi-body dynamic simulation model of the miner is developed in RecurDyn by integrating the developed mechanical model of the seafloor sediment. Simulations are conducted to measure the miner's geometric trafficability and locomotion performance. Additionally, a mathematical model to evaluate the miner's tractive trafficability in relation to its slip ratio and its primary design parameters is established, and the results demonstrate that there is an optimum slip ratio that produces a maximum traction force for the miner. This research provides a valuable and effective simulation modelling method for trafficability, locomotion predictions, design optimization and motion control of tracked-operated vehicles under various terrain conditions.

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A detailed multi-body model for dynamic simulation of off-road tracked vehicles

Cited by 81 publications

References 5 publications

Integration of ANCF continuum-based soil plasticity for off-road vehicle mobility in multibody system dynamics

Integration of ANCF continuum-based soil plasticity for off-road vehicle mobility in multibody system dynamics

Multi-Body Kinematics of Shovel Crawler Performance in Rugged Terrains

A New Multi-Body Dynamic Model for Seafloor Miner and Its Trafficability Evaluation

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