Kinematic and force patterns of interaction of a link caterpillar of a transport machine with the ground

This article proposes a mathematical model of a caterpillar track's force and kinematic interaction with the ground during movement. The presence of a positive displacement of caterpillar tracks was proved even in the absence of slipping. This displacement causes the soil to be sheared and thrown out of the area of contact with the caterpillar. The change in the rotation angles of the tracks and the magnitude of their longitudinal displacement were obtained. A drop in the tension force of the caterpillar track was detected on the active section of the supporting surface between the first and second track wheels. The relationships between the main geometric parameters of the caterpillar track, the vertical load on the track wheels, and the movement of the tracks when the track wheels roll over them are established. Practical recommendations are proposed that contribute to the damping of vibrations when the track roller passes over the caterpillar track.