Kinematics of Wheel-Type Tracked Vehicle with Crawlers in Between the Front and Rear Wheels

2012 ◽  
Vol 24 (6) ◽  
pp. 933-938
Author(s):  
Ryosuke Eto ◽  
◽  
Tomoaki Satomi ◽  
Hiroshi Takahashi
Keyword(s):  
Numerical Simulations ◽  
Inverse Kinematics ◽  
Soft Ground ◽  
Optimal Conditions ◽  
Constraint Condition ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Turn On

Tracked vehicles are generally trucked to the field because they cannot move on the pavement. This operation is very slow and inefficient. To solve the problem, it is necessary to develop tracked vehicles that can move swiftly on both soft ground and pavement. Wheel-type tracked vehicles with crawlers in between the front and rear wheels can move swiftly using only the wheels on pavement and both wheels and crawlers on soft ground. However, such vehicles cannot turn on both wheels and crawlers. In this study, this steering constraint condition of the vehicle was analyzed with inverse kinematics. Using the obtained optimal conditions, numerical simulations and experiments were carried out. The vehicle’s turning performance was also shown to improve.

Design and Analysis of Steering Mechanism for Small Tracked Vehicle

2014 ◽  
Vol 701-702 ◽  
pp. 659-665
Author(s):  
Fa Liang Zhou ◽  
Xiao Jun Xu ◽  
Hao Yue Zhang
Keyword(s):  
The Other ◽  
Transmission Ratio ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Steering Mechanism ◽  
Rubber Belt

The steering mechanism of tracked vehicles is complicated and large, which is an obstacle for its miniaturization. According to the theory of rubber-belt CVTs, a new kind of steering mechanism for small Tracked vehicle is designed. The mechanism consists of two symmetrical-layout rubber-belt CVTs. A sliding part for steering is designed, which can slide axially to make the transmission ratio of one transmission increase while the other reduces, so that the tracked vehicle turns. The steering motion is calculated and its motion discipline is founded. The steering sensitivity and steering smoothness are analyzed, and its steering performance is evaluated.

scholarly journals A steering model for articulated tracked vehicle considering soil deformation on track–soil interaction

2018 ◽  
Vol 10 (10) ◽  
pp. 168781401880270 ◽  
Author(s):  
Yu Yao ◽  
Kai Cheng ◽  
Bangcheng Zhang ◽  
Jinhua Lin ◽  
Dawei Jiang ◽  
...  
Keyword(s):  
Experimental Results ◽  
Simulation Studies ◽  
Soil Deformation ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Model Based ◽  
Theoretical Results ◽  
Strong Agreement

With the advantage of steering performance, articulated tracked vehicles have excellent mobility in off-road application. However, in current models for steering performance, soil deformation on the interaction between track and soil cannot always be taken into account. Therefore, steering performance cannot always be calculated accurately. In order to solve the problem, it is essential to propose a steering model which can take the effect of soil deformation on track–soil interaction into consideration. In this article, a steering model of articulated tracked vehicle is proposed on track–soil interaction. Moreover, in order to improve steering performance, a track–soil sub-model is developed that can consider soil deformation on track–soil interaction. Using this steering model based on track–soil sub-model, steering performance can be calculated more accurately. Simulation studies and experimental results are in strong agreement with the theoretical results in this article. The results show that equipped with the track–soil sub-model, the proposed steering model can be used to accurately predict steering performance. The steering model of articulated tracked vehicle proposed in this article can provide a basis for other similar vehicles.

scholarly journals Web-Based Robotics Laboratory

2018 ◽  
Vol 164 ◽  
pp. 01034
Author(s):  
Petrus Santoso ◽  
Handry Khoswanto ◽  
Iwan Njoto Sandjaja
Keyword(s):  
Inverse Kinematics ◽  
Control Mechanism ◽  
Web Interface ◽  
Laser Pointer ◽  
Web Based ◽  
Turn On ◽  
The Past ◽  
Interface Usability ◽  
Web Based System ◽  
Projection Field

In the education world, the number of web-based system is growing substantially in the past few years. Many web-based teaching tools has been developed to help students expand his knowledge. This paper presents a web-based laboratory to augment learning experiences in the field of robotics. The designed laboratory consists of a robotic arm with laser pointer, projection platform and web-based interface. The laboratory is used to learn about inverse kinematics and forward kinematics problems. Students enter the input parameters through web interface, server calculate output parameters and sent it to the robot. The web interface displays the movement result and turn on the laser pointer to the projection field. Preliminary testing concerning interface usability, access control mechanism and command queueing shows that the system working as expected.

scholarly journals A COMPACTING PROCESS OF THE EN AW 6060 ALLOY

2015 ◽  
Vol 55 (5) ◽  
pp. 301 ◽  
Author(s):  
Lukáš Dragošek ◽  
Róbert Kociško ◽  
Andrea Kováčová ◽  
Robert Bidulsky ◽  
Milan Škrobian
Keyword(s):  
Density Distribution ◽  
Numerical Simulations ◽  
Vertical Channel ◽  
Processing Conditions ◽  
Optimal Conditions ◽  
Optimal Parameters ◽  
Under Five ◽  
Forward Extrusion ◽  
Deform 2D ◽  
Extrusion Method

<p>This study reports on an investigation of factors affect the process of compacting Al chips which are used to direct scrap processing through the forward extrusion method. EN AW 6060 chips of different geometry and types were mainly used as the experimental material. The chips were compacted in a die with a vertical channel (10.3mm in diameter). To provide a range of processing conditions, three different weights were selected and compacting was performed under five, different compacting pressures. The movement of the chips within the die during compacting was analysed through numerical simulations using Deform 2D software. Study of the compacting process optimal parameters for increasing the density and enhancing the density distribution were defined. The results from our study clearly show that optimal conditions are obtained when the proportion of D/h is 1/1.1. Moreover, it was recognized that in the process of small chips compacting, there was obtained lower density than in the case of large chips.</p>

scholarly journals The influence law of grouser shape on soil slide sinkage when tracked vehicle travels on soft road

2019 ◽  
Vol 234 (1) ◽  
pp. 225-237
Author(s):  
Jian He ◽  
Dalin Wu ◽  
Jisheng Ma ◽  
Hongkai Wang ◽  
Yuliang Yang
Keyword(s):  
Numerical Simulation ◽  
System Dynamics ◽  
Simulation Model ◽  
Multibody System ◽  
Multibody System Dynamics ◽  
Shear Displacement ◽  
Soil Parameters ◽  
Tracked Vehicle ◽  
Physical Test ◽  
Tracked Vehicles

The influence law of a tracked vehicle grouser shape on the soil slide sinkage was investigated in this study via the numerical simulations and physical tests. A finite element model was built using the plastic incremental theory and generalized Hokker’s law, while constitutive soil parameters were obtained via triaxial test. The numerical simulation model was verified by physical test results. Based on the verified numerical simulation model, the influence law of the tracked vehicle grouser shape on the soil slide sinkage was determined. The results show that (1) shear displacement in the lateral direction can increase the soil sinkage in the vertical direction, which is referred to as the “slide sinkage”; (2) there is a linear relationship between the slide sinkage and the shear displacement; (3) the grouser width and height have a positive influence on the amount of slide sinkage. Under the same load, an increase in grouser width and height will cause an increase in the soil slide sinkage. Grouser thickness and pitch have a negative influence on the slide sinkage, and under the same load, increased grouser width and height cause a reduction in the soil slide sinkage. Grouser angle characteristics have no significant effect on the soil sinkage. The application of the slide sinkage in tracked vehicles traveling on soft roads was investigated in multibody system dynamics analysis software Recurdyn to confirm these observations. The results presented in this paper may provide a workable reference for the analysis of tracked vehicles in multibody system dynamics scenarios.

THE HIGH-SPEED MILITARY TRACKED VEHICLE MAINTENACE SYSTEM - MODIFICATION IS NEEDED

2010 ◽  
Vol 158 (4) ◽  
pp. 71-83
Author(s):  
Adam DRYHUSZ ◽  
Kazimierz KOWALSKI
Keyword(s):  
Statistical Analysis ◽  
Management System ◽  
High Speed ◽  
Maintenance Management ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Maintenance Activity ◽  
Maintenance System ◽  
Original Interpretation

The maintenance system of high-speed military tracked vehicles and the graphic original interpretation of maintenance activity (mainly maintenance) are described. A modification of the maintenance system of the above-mentioned vehicles based on dependability-oriented maintenance (Reliability Cantered Maintenance – RCM) is proposed. Additionally, the use of the statistical analysis of maintenance cases and the development of Computerised Maintenance Management System – CMMC are proposed as well.

Influence of Flexible Bodies in Military Tracked Vehicle Dynamics

2016 ◽  
Vol 8 (2) ◽  
Author(s):  
S. Jothi ◽  
V. Balamurugan ◽  
K.M. Mohan
Keyword(s):  
Dynamic Simulation ◽  
Rigid Bodies ◽  
The Finite Element Method ◽  
Tracked Vehicle ◽  
Finite Element Method Result ◽  
Flexible Bodies ◽  
Tracked Vehicles ◽  
Dynamic Studies ◽  
The Military ◽  
Test Result

Tracked vehicles are meant to be used in the harsh cross country environment. In particular, the military tracked vehicles are highly exposed to severe terrains and critical handling conditions. Yet while carrying out the dynamic studies, the tracked vehicles, in general, are modeled as rigid bodies. Hence in this article, an attempt has been made to understand closely the dynamics of a tracked vehicle with the inclusion of some parts of the tracked vehicle viz., hull side plates and road wheel arms, as flexible bodies in the dynamic analysis using the finite element method. Result of the flexible dynamic simulation is also compared with the tracked vehicle analysis with the same parts modeled as rigid bodies. In this investigation, dimensions of the standard staggered trapezoidal blocks terrain meant for testing the tracked vehicles is used to carry out the dynamic studies on the tracked vehicle. The dynamic simulation result of the flexible tracked vehicle model is also compared with the experimental test result of the actual tracked vehicle conducted in the actual trapezoidal blocks terrain.

Vibration Qualification of Commercial Computers for Use in Military Tactical Environments

1995 ◽  
Vol 38 (4) ◽  
pp. 18-22
Author(s):  
John Dente ◽  
James McCutcheon ◽  
Ashok Jain
Keyword(s):  
Vibration Test ◽  
Tracked Vehicle ◽  
Tracked Vehicles ◽  
Vibration Isolators ◽  
Commercial Use ◽  
Test Profiles

Commercial computers are generally designed for commercial use and lack industry specification for tactical use, other than the shipping environment. In order to use commercial computers in rugged military tactical environments, appropriate mounting trays and fixtures with vibration isolators must be designed for installation in tactical wheeled and tracked vehicles. This paper describes the vibration test profiles used in testing a commercial computer and monitor, as isolated, to determine the survivability limitations of these components when subjected to simulated tactical wheeled and tracked vehicle vibration environments.

A mathematical model for spatial motion of tracked vehicles on soft ground

1992 ◽  
Vol 29 (1) ◽  
pp. 71-81 ◽  
Author(s):  
H. Murakami ◽  
K. Watanabe ◽  
M. Kitano
Keyword(s):  
Mathematical Model ◽  
Soft Ground ◽  
Spatial Motion ◽  
Tracked Vehicles
Sign in / Sign up

Export Citation Format

Share Document