Skid Steering of Wheeled and Tracked Vehicles - Analysis with Coulomb Friction Assumptions

摘要

Existing theoretical procedures for analysis of skid steering of wheeled and tracked vehicles have been extended to consider the interaction of forces generated for skid steering with the vertical loads carried at each wheel of the vehicle. The developed theory has been organized into a system for numerical calculations of skid steering performance, which has been used to compare the predicted skid steering performance of a 6 x 6 wheeled vehicle, a 8 x 8 wheeled vehicle and a tracked vehicle with 12 road wheels. The results indicated that the wheeled vehicles require greater 'track speed' difference and power input to maintain a steady turn than the tracked vehicle, and that the tracked vehicle can be expected to maintain its ability to steer over a wider range of slope angles and slope heading angles, then the wheeled vehicles. The 8 x 8 wheeled vehicle considered did not appear to offer any significant advantage, in terms of steering performance, over the 6 x 6 vehicle. The results of the slope steerability calculations and, in the case of the 6 x 6 vehicle, comparison of calculated results with experimental data, indicated limitations to the developed theory which require further work to resolve.