A MATHEMATICAL-MODEL FOR SPATIAL MOTION OF TRACKED VEHICLES ON SOFT GROUND

被引：24

作者：

MURAKAMI, H

WATANABE, K

KITANO, M

机构：

[1] Department of Applied Mechanics and Engineering Sciences, University of California at San Diego, La Jolla

[2] Department of Mechanical Engineering, The National Defense Academy, Yokosuka, 239

来源：

JOURNAL OF TERRAMECHANICS | 1992年 / 29卷 / 01期

关键词：

D O I：

10.1016/0022-4898(92)90015-C

中图分类号：

X [环境科学、安全科学];

学科分类号：

08 ; 0830 ;

摘要：

A 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.

引用

页码：71 / 81

页数：11

共 9 条

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[2]

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[9]

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