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

Figure 6

Forces acting on the left pin of the track under the first road wheel, where is the pretensioning force of tracks, kN; is the rotation angle of the vehicle’s mass center, rad; is the angle between the tracks that link front idler and the level terrain when the vehicle is static, rad. superscript “” represents the values obtained at the former calculation point, the same as below (see (3) and (4)).