Fundamental Contact Dynamics Model of a Crawler-Type Vehicle Simulation

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.