직교배열표 실험계획법에 의한 점착성 연약지반용 무한궤도 차량의 선회성능에 대한 실험적 연구

Abstract

This paper is concerned about experimental investigation on steering performance of tracked vehicle on extremely soft soil. A tracked vehicle model with principal dimensions of 0.9m(L)×0.75m(B)× 0.4m(H) and weight of 167kg was constructed with a pair of driving chain links driven by two AC-servo motors. The tracks were configured with detachable grousers with variable span. Deep seabed was simulated by means of bentonite-water mixture in a soil bin of 6.0m(L)×3.7m(B)×0.7m(H). Turning radii of vehicle and driving torques of motors were measured with respect to experiment variables: steering ratio, driving speed, grouser chevron angle, grouser span, grouser height. L8 orthogonal table is adopted for DOE (Design Of Experiment). The effects of experiment variables on steering performance are evaluated.