A Study on the Driving Performance of a Tracked Vehicle on an Inclined Plane according to the Position of Buoyancy

摘要

This paper is concerned with a numerical simulation of tracked vehiclesrnfor studying of driving performance on an inclined plane. In this paper,rna tracked vehicle model of a miner of a deep-sea mining system isrnselected as an example for a numerical analysis model. Cohesive softrnsoil model and hard soil model are used in this paper. In order torninvestigate and analyze dynamic responses of tracked vehicles withrnrespect to the change of the buoyancy position, the numericalrnsimulation of the tracked vehicle was performed using commercialrnsoftware. The numerical model of the tracked vehicle is composed ofrnchassis module, track subsystem module and buoyancy module. Terramechanicsrnof the soil model is implemented using the user definedrnsubroutine of commercial software. Hydrostatic forces of the trackedrnvehicle are included in the simulation model. A series of dynamicrnsimulations is conducted with respect to driving velocities, soilrnproperties, gradient of inclined plane, and position of buoyancy and sornon.