Multibody simulation of a tracked vehicle with deformable ground contact model

Abstract

In this paper, the realisation of a multibody model of a tracked machine is described. A new compact modelling of the tracks-soil interaction is presented and soil mechanics laws for terrain response are implemented. Tracked vehicles can be used in different fields such as agriculture, military and construction. The conditions of the terrain on which they operate may vary a lot, in terms of soil composition, slope and roughness. For this reason, performance of tracked vehicles is difficult to predict without a great number of field tests. The model is developed in a multibody code that makes it possible to investigate its dynamic and kinematic behaviour in several operating conditions. A specific routine is implemented in the multibody model in order to simulate the behaviour of the tracked vehicle on deformable terrains. The main hypothesis of this paper is that the terrain deformation could be in a narrow zone affected by the vehicle. Thus, the deformation of the soil is kinematically correlated to the vehicle. Soil mechanics equations are implemented on each track portion and solved only for track links in contact with the soil. The latter is modelled as a rigid body and terrain stress or deformation are not directly computed, thus simplifying solution and terrain modelling despite obtaining coherent results in terms of vehicle traction force, slip and sinkage. Results are reported pointing out performance of the tracked machine on different ground conditions.

Grousers Effect in Tracked Vehicle Multibody Dynamics with Deformable Terrain Contact Model

“…In this paper a MTB model of a tracked machine with a deformable terrain model was developed, also thanks to the authors' research group previous experience in MTB contact [32] and vehicle modelling [33]. The main assumption of the model considers the terrain deformation located in a close area around the vehicle tracks.…”

A New Sensor for Robotic Mars Rovers in Sandy Terrains Predicting Critical Soil Flow Using the Spiral Soil Flow Model

“…19 These components were measured from experimental or estimated pressure distribution and the sinkage beneath the wheel. 20 Finding the simple contact point while interacting with rigid terrains has been previously carried out by continuous single-output sensors 21,22 and array of force sensors. 23 The contact between the soft terrain and hard wheels cannot be assumed as a single-point contact type.…”

Rigid-flexible coupling modelling and dynamic performance analysis of novel flexible road wheel

“…It allows the tracked vehicles to travel smoothly on various cross-country roads at a higher speed and overcome a variety of natural and artificial obstacles. [1][2][3][4] As the main moving parts of track propulsion system, the road wheels have the functions of bearing the static and dynamic loads between the vehicle body and ground, supporting the car body, and reducing the vibration and noise. The dynamic characteristics of road wheels have a very important impact on the handling stability and ride comfort of tracked vehicles.…”

“…It allows the tracked vehicles to travel smoothly on various cross-country roads at a higher speed and overcome a variety of natural and artificial obstacles. 1–4…”