연약지반 4열 강체 무한궤도 차량의 선회성능 연구

Abstract

This paper concerns about steering characteristics 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 (FRTV) is assumed as rigid body with 6-dof. The dynamic analysis program of tracked vehicle is developed using Newmark-β method based on incremental-iterative scheme. A terra-mechanics model of extremely cohesive soft soil is implemented in form of relationships of normal pressure to sinkage, of shear resistance to shear displacement, and of dynamic sinkage to shear displacement. In order to investigate steering characteristics of four-row tracked vehicle, a series of dynamic simulations are conducted with respect to the pitch between left and right tracks, steering ratios, driving velocity, reference track velocity, lengths of tracks and properties of cohesive soft soil. Through the numerical simulations, the possibility of using kinematic steering ratio is explored and checked.