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Structural Engineering and Mechanics Volume 11, Number 2, February 2001 , pages 133-149 DOI: https://doi.org/10.12989/sem.2001.11.2.133 |
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A recursive multibody model of a tracked vehicle and its interaction with flexible ground |
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Ray P.S. Han, Brian S. Sander and S.G. Mao(U.S.A.)
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| Abstract | ||
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A high-fidelity model of a tracked vehicle traversing a flexible ground terrain with a varying profile is presented here. In this work, we employed a recursive formulation to model the track subsystem. This method yields a minimal set of coordinates and hence, computationally more efficient than conventional approaches. Also, in the vehicle subsystem, the undercarriage frame is assumed to be connected to the chassis by a revolute joint and a spring-damper unit. This increase in system mobility makes the model more realistic. To capture the vehicle-ground interaction, a Winkler-type foundation with springs-dampers is used. Simulation runs of the integrated tracked vehicle system for vibrations for four varying ground profiles are provided. | ||
| Key Words | ||
| tracked vehicles; multibody dynamic models; flexible ground terrain; varying ground profile. | ||
| Address | ||
| Ray P. S. Han, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242, USA Brian S. Sander, Henderson Engineers Incorporated, Lenexa, KS 66214, USA S.G. Mao, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242, USA | ||