Optimization of Dynamic Motions for Tracked Vehicle by using Stepwise Regrssion based Axiomatic Design

Abstract

This paper concerns about dynamic responses of a tracked vehicle crawling on extremely cohesive soft soil, which each side is composed of parallel two tracks.The tracked vehicle is consisted of 2 bodies, in which one is tracked vehicle body, which is assumed as rigid body with 6 DOFs and the other is buoyancy body. The other body is connected to tracked vehicle body by revolute joint, which adds 1 DOF to the vehicle motion.Dynamic motions of the tracked vehicle such as sinkage, pitch angle and turn radius are influenced by several design variables, i.e., buoyancy, pipe length, velocity and steering ratio. To select optimal design variables is necessary for an ttitude control of the tracked vehicle crawling on extremely cohesive soft soil. For the optimization of the dynamic motions for the tracked vehicle, the stepwise variable selection procedure was proposed that combines stepwise regression and axiomatic design., which is assumed as rigid body with 6 DOFs and the other is buoyancy body. The other body is connected to tracked vehicle body by revolute joint, which adds 1 DOF to the vehicle motion.Dynamic motions of the tracked vehicle such as sinkage, pitch angle and turn radius are influenced by several design variables, i.e., buoyancy, pipe length, velocity and steering ratio. To select optimal design variables is necessary for an ttitude control of the tracked vehicle crawling on extremely cohesive soft soil. For the optimization of the dynamic motions for the tracked vehicle, the stepwise variable selection procedure was proposed that combines stepwise regression and axiomatic design.