Research on Coupled Dynamic Model of Tracked Vehicles and Its Solving Method

Figure 4

Forces and moments acting on a track contacting with a road wheel, where, and subscript are the th track, the same as below; subscripts , , , , , , and are the th road wheel, left pin, right pin, shear force, the direction along the track, the direction vertical to the track, and road wheel’s vertical force on the track, the same as below; is the midpoint of the th track; , is the force components acting on both pins in the direction along the track, kN; , is force components acting on both pins in the direction vertical to the track, kN; , is the moments acting on both pins of the track, kN·m; is the vertical force acting on the track from road wheel, which equals the sum of the weight of a road wheel, inertial force of a road wheel and the suspension’s reactive force, kN; is the shear force acting on a track from terrain, kN; is the acceleration of gravity, m/s²; is the mass of a track, kg; is the length of a track, m; is the angle of the track, rad; is the pressure distribution function under a track, kpa.