A mathematical model for spatial motion of tracked vehicles on soft ground
A mathematical model for spatial motion of tracked vehicles on soft ground
- New search for: Murakami, H.
- New search for: Watanabe, K.
- New search for: Kitano, M.
- New search for: Murakami, H.
- New search for: Watanabe, K.
- New search for: Kitano, M.
AbstractA mathematical model which predicts spatial motion of tracked vehicles on non-level terrain has been developed. The motion of the vehicle is represented by three translational and three rotational degrees of freedom. In order to incorporate the inelastic deformation of soil, a soil-track interaction model is introduced; this constitutive model relates the traction exerted on the track by soil to the slip velocity and sinkage of the track. The model is based upon available soil plasticity theories and furnishes mechanics-based interpretation of Bekker's empirical relations. For planar motion the proposed model reduces to the existing equations of motion by introducing kinematic constraints on the vertical translation, pitching and rolling degrees-of-freedom.
Document information
A mathematical model for spatial motion of tracked vehicles on soft ground
Journal of Terramechanics ; 29 , 1 ; 71-81
1992-01-01
11 pages
Article (Journal)
Electronic Resource
English
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