The running gear construction impact on overcoming obstacles by light high-mobility tracked UGV

IF 2.4 3区 工程技术 Q3 ENGINEERING, ENVIRONMENTAL Journal of Terramechanics Pub Date : 2023-12-11 DOI:10.1016/j.jterra.2023.11.003
Daniela Szpaczyńska, Marian Łopatka, Piotr Krogul
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Abstract

Rubber tracked running gears are widely used in high-mobility Unmanned Ground Vehicles (UGV) to increase obstacle negotiation possibility in urban and rural terrain. The paper proposes a method of assessing the mobility level of the light UGV‘s tracked running gears in terms of their ability to overcome terrain obstacles. A model of rubber track system was created in the MSC ADAMS environment. A track-ground contact was also modeled, defining the traction force based on the Wong equations. For four different chassis models (rigid construction, bogies solution – rigid and elastically mounted to the frame and rocker-bogie construction), with two track tension variants, the ability to overcome five terrain obstacles was checked, taking into account three different types of soil. The solutions were accessed on the basis of parameters of general efficiency of overcoming obstacles, driving force and slip values, as well as the distribution of track pressures on the ground. The best solutions for each criterion were indicated. The simulation results showed an improvement in the driving properties with the use of elastically suspended elements. The results also emphasized the negative impact of increased track tension on overcoming obstacles and the impact of ground characteristics on the slip values of the running gear.

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行走装置结构对轻型高机动性履带式无人潜航器克服障碍的影响
橡胶履带运行装置被广泛应用于高机动性无人地面车辆(UGV)中,以增加在城市和乡村地形中的障碍谈判可能性。本文提出了一种从克服地形障碍能力的角度评估轻型无人地面运载工具履带运行装置机动性水平的方法。在 MSC ADAMS 环境中创建了橡胶履带系统模型。还建立了履带与地面接触的模型,并根据黄氏方程定义了牵引力。针对四种不同的底盘模型(刚性结构、转向架解决方案--刚性和弹性安装在车架上以及摇臂-转向架结构)以及两种轨道张力变量,考虑到三种不同类型的土壤,检查了克服五种地形障碍的能力。根据克服障碍的一般效率参数、驱动力和滑移值,以及履带压力在地面上的分布情况,确定了解决方案。每个标准的最佳解决方案均已确定。模拟结果表明,使用弹性悬挂元件可改善行驶性能。结果还强调了增加轨道张力对克服障碍的负面影响,以及地面特征对传动装置滑移值的影响。
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来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
审稿时长
15.3 weeks
期刊介绍: The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.
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