Center-point steering analysis of tracked omni-vehicles based on skid conditions

Abstract

Abstract. Existing center-point steering models of a tracked omni-vehicle seldom consider the skid of the track (roller) grounding section, which is inconsistent with the actual steering process. In this study, for the three typical layout types, rectangular, hybrid, and centripetal, the steady center-point steering motion of a tracked omni-vehicle under skid conditions is analyzed and a correction model is investigated. The numerical solution of the absolute lateral offset of the steering pole is obtained, and the influences of various structural parameters on the numerical solution are discussed. The steering angular velocity reduction coefficient is calculated, and the angular velocity of vehicles is corrected. The simulation of center-point steering motion is carried out on eight virtual prototypes, and the center-point steering motion experiment is carried out on three physical prototypes. The results show that the established correction model is more in line with the steering reality of the tracked omni-vehicle, and it can play a role in correcting the center-point steering angular velocity.

Research on the Adhesive Performance of a Biomimetic Goat Hoof Track Shoe Pattern

“…Tracked vehicles have better traffic capacity under soft ground conditions in hilly areas. The engine power of agricultural tracked vehicles commonly used in this area is high, and its power performance meets the traction requirements, while the adhesive performance of tracked vehicles to soft ground is weak, and it is easy to slip in the process of driving, climbing, obstacle avoidance and ditch crossing [ 1 , 2 ], which seriously restricts the passability of tracked vehicles. Therefore, it is important content for the research and development of agricultural tracked vehicles in hilly and mountainous areas to improve the adhesion of tracked vehicles to the ground.…”