転輪運動を考慮した装軌車の三次元運動解析モデル(機械力学,計測,自動制御)

概要

論文の詳細を見る
A three-dimensional tracked vehicle model including the effect of torsion bar type independent suspension system was constructed for simulation on rough terrain. The equations of motion for the vehicle body and a set of road wheel and arm were combined to reduce the number of variables for numerical efficiency. Vehicle motion is numerically obtained by solving the equations with minimal set of degrees of freedom. External forces to the vehicle equations are explained as an interaction relation between track and ground. In order to improve the model, track tension acting on the surface of road wheels was considered. Numerical calculation and scale model experiment were conducted to assess the validity of the mathematical model. It was found that the model exhibits good agreement with the experimental data.
一般社団法人日本機械学会の論文
2002-06-25