연약지반 4열 강체 무한궤도 주행차량의 선회성능 연구

Abstract

This paper concerns about steering performance of four-row tracked vehicle crawling on extremely cohesive soft soil, of which each side is composed of parallel two tracks. The four-row tracked vehicle is assumed as rigid body with 6-dof. The dynamic analysis program of tracked vehicle is developed using Newmark's method and incremental-iterative scheme. A terramechanics model of cohesive soft soil is implemented in form of relationships: normal pressure to sinkage, shear resistance to shear displacement, and dynamic sinkage to shear displacement. In order to investigate steering performance of the four-row tracked vehicle, a series of dynamic simulations are conducted with respect to change of pitches between tracks of left and right side, change of steering ratios, change of velocity ratios and so on.