Fundamental study on underwater trafficability for tracked vehicle

Yamada, Mitsuru; Yamauchi, Genki; Hashimoto, Takeshi

doi:10.1016/j.jterra.2021.07.001

Cited by 3 publications

(2 citation statements)

References 2 publications

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“…In addition, the drawbar pull of tracked vehicles has absorbed significant attention from researchers for decades (Das, 1979;Ge et al, 2019). Yamada et al (2021) tested an experimental tracklaying vehicle on underwater ground and non-underwater ordinary ground, based on tracked vehicles, to study the fundamental principles of the dynamic interaction between the crawler of tracked vehicle and soil on underwater ground. That experiment measured the cone index of underwater ground and non-underwater ordinary ground.…”

Section: Introductionmentioning

confidence: 99%

“…That experiment measured the cone index of underwater ground and non-underwater ordinary ground. In addition, the research also showed that the tractive efficiency of tracked vehicles on the underwater ground was lower than the ordinary ground (Yamada et al, 2021). To clear up the concept of thrust generation on soft ground with respect to the slip mentioned in Dr. Bekker's first book Theory of Land Locomotion (Bekker, 1956), Baek et al(2018) assessed the off-road tracked vehicle's performance by evaluating both the bottom thrust and the side thrust based on the punching shear theory.…”

Section: Introductionmentioning

confidence: 99%

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Numerical Prediction of Tractive Performance of Track-Soil Interaction System Through Different Grouser Heights

Jun,

Peng,

Cao

et al. 2024

Eng. Agríc.

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This study aims to investigate the influence of moisture contents and grouser heights on traction force exerted on different surfaces in the track-soil interaction system. A sandy loam was employed for acquiring the soil parameters, such as kc, kφ, n, C, Ca, δ, φ, and γ. These parameters were obtained through the mean of the bevameter technique. Moisture contents of the sandy loam were changed from low to high levels, which could be listed as 1.4%, 8.0%, 14.7%, and 22.2% at last. The direct shear and penetration tests were performed for each soil condition of the moisture content, respectively. The model of the single-grouser-shoe (track model) had a length of 9 cm, a width of 15 cm, and varied grouser heights from 0 to 15 cm with a 0.5 cm interval. Based on the calculation result, in general, the shearing force produced by the bottom surface always performs better than either the shear force on the grouser-tip surface or two lateral surfaces. Simultaneously, prediction results also show that the shearing forces were significantly influenced by the level of moisture content in the soil.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Numerical Prediction of Tractive Performance of Track-Soil Interaction System Through Different Grouser Heights

Jun,

Peng,

Cao

et al. 2024

Eng. Agríc.

View full text Add to dashboard Cite

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Modelling and control strategies in path tracking control for autonomous tracked vehicles: A review of state of the art and challenges

Ruslan

Amer

Hudha

et al. 2023

Journal of Terramechanics

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Numerical Prediction of Ride Comfort of Tracked Vehicle Equipped with Novel Flexible Road Wheels

Deng,

Wang,

Zhao

et al. 2024

Chin. J. Mech. Eng.

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Enhancing ride comfort has always constituted a crucial focus in the design and research of modern tracked vehicles, heavily reliant on the driving system’s performance. While the road wheel is a key component of the driving system, traditional road wheels predominantly adopt a solid structure, exhibiting subpar adhesion performance and damping effects, thereby falling short of meeting the demands for high-speed, stable, and long-distance driving in tracked vehicles. Addressing this issue, this paper proposes a novel type of flexible road wheel (FRW) characterized by a catenary construction. The study investigates the ride comfort of tracked vehicles equipped with flexible road wheels by integrating finite element and vehicle dynamic. First, three-dimensional (3D) finite element (FE) models of both flexible and rigid road wheels are established, considering material and contact nonlinearities. These models are validated through a wheel radial loading test. Based on the validated FE model, the paper uncovers the relationship between load and radial deformation of the road wheel, forming the basis for a nonlinear mathematical model. Subsequently, a half-car model of a tracked vehicle with seven degrees of freedom is established using Newton’s second law. A random road model, considering the track effect and employing white noise, is constructed. The study concludes by examining the ride comfort of tracked vehicles equipped with flexible and rigid road wheels under various speeds and road grades. The results demonstrate that, in comparison to the rigid road wheel (RRW), the flexible road wheel enhances the ride comfort of tracked vehicles on randomly uneven roads. This research provides a theoretical foundation for the implementation of flexible road wheels in tracked vehicles.

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Fundamental study on underwater trafficability for tracked vehicle

Cited by 3 publications

References 2 publications

Numerical Prediction of Tractive Performance of Track-Soil Interaction System Through Different Grouser Heights

Numerical Prediction of Tractive Performance of Track-Soil Interaction System Through Different Grouser Heights

Modelling and control strategies in path tracking control for autonomous tracked vehicles: A review of state of the art and challenges

Numerical Prediction of Ride Comfort of Tracked Vehicle Equipped with Novel Flexible Road Wheels

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