연약지반 병렬 4열 무한궤도 차량의 선회성능

Abstract

The principal objective of this paper was to investigate the steering performances of a four-row tracked vehicle, when crawling on cohesive soft soil. The configuration of four- row tracked vehicle had two track sub-system, which each side is composed of parallel two tracks. The four-row tracked vehicle (FRTV) was modeled by rigid body and 6-dof. A ground reaction force model of cohesive soft soil was implemented according to the relationships of normal pressure to sinkage, of shear resistance to shear displacement, and of dynamic sinkage to shear displacement. In an effort to investigate steering performance of a four-row tracked vehicle, a series of dynamic simulations were conducted for an four-row tracked vehicle model with respect to the initial velocity, steering ratio and so on.