연약지반 직렬 무한궤도 주행차량의 선회특성 연구

Abstract

The purpose of this paper is to investigate the steering characteristics of a tandem tracked vehicle crawling on extremely cohesive soft soil, of which each side is composed of tandem two track. The tandem tracked vehicle is assumed as a rigid-body with 6-dof. The dynamic analysis program of tandem tracked vehicle is developed using Newmark's method and incremental-iterative method. A terramechanics model of extremely 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 simplify characteristics of contact interaction between track segment and cohesive soft soil, the characteristics of soil is assumed as intact soil property. In order to investigate steering characteristics of a tandem tracked vehicle crawling on extremely cohesive soft soil, dynamic simulations are conducted for a tandem tracked vehicle model with respect to front and rear steering angle, steering ratio, initial velocity.