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Article
Fundamental Contact Dynamics Model of a Crawler-Type Vehicle Simulation
Author(s)
Kosuke Sasahara
Full-Text PDF XML 1166 Views
DOI:10.17265/2159-5275/2020.04.001
Affiliation(s)
Mechanical CAD Unit, Polytechnic University, Tokyo 187-0035, Japan
ABSTRACT
In this paper, I established a single crawler
model with
a
dynamic contact force considered. I modeled each crawler
track using dynamic contact model. By modeling each crawler
track, I hope to be able to analyze trafficability of a crawler
type vehicle in various road surfaces. First, I think that I
established a single crawler model. I modeled a single crawler
using Hunt-Crossley model and Coulomb model that handle a nonlinear contact
force model.
And
also, I built a prototype single crawler for comparing the experimental
examination with the simulation examination. In advance, the running
over limit of the prototype single crawler was analyzed geometrically, and I
bore out that it could run over to 163 mm. Therefore, I conducted the
experiment examination with step height of 160 mm and 165
mm
and obtained trajectory data that were
allowed to run over and were not allowed to run over. From the result of both
the experimental examination and the simulation examination, I bore out the
validity of our single crawler model. I described about our
single crawler model, the simulation examination and the experimental
examination in this paper.
KEYWORDS
Crawler-type rover, dynamics, Hunt-Crossley.
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