Ocean and Polar Research

Korea Institute of Ocean Science & Technology (한국해양과학기술원)
권호 표지
DOI QR코드

DOI QR Code

A Study on Dynamic Responses of Tracked Vehicle on Extremely Soft Cohesive Soil

점착성 연약지반 주행차량의 동적거동 연구

  • 김형우 (한국해양연구원 해양개발시스템연구본부) ;
  • 홍섭 (한국해양연구원 해양개발시스템연구본부) ;
  • 최종수 (한국해양연구원 해양개발시스템연구본부)
  • Received : 2004.04.16
  • Accepted : 2004.06.08
  • Published : 2004.06.30
Download PDF
⟨ Previous Next ⟩

Abstract

This paper concerns about a study on dynamic responses of tracked vehicle on soft cohesive soil. For dynamic analyses of tracked vehicle, two different models were adopted, i.e. a single-body model and a multi-body model. The single-body vehicle model was assumed as a rigid body with 6-dof. The multi-body vehicle was modeled by using a commercial software, RecurDyn-LM. For the both models properties of cohesive soft soil were modeled by means of three relationships: pressure to sinkage, shear displacement to shear stress, and shear displacement to dynamic sinkage. Traveling performances of the two tracked vehicle models were compared through dynamic analyses in time domain.

Keywords

Acknowledgement

Grant : 심해저 집광시스템 및 채광운용기술 개발, 해양개발 설계엔지니어링 기술 고도화

References

  1. Baladi, G.Y. and B. Rohani. 1978. A mathematical model of terrain vehicle interaction for predicting the steering performance of track-laying vehicles. p. 285-332. In: Proc. 6th ISTVS Conference.
  2. Bode, O. 1991. Simulation der Fahrt von Raupen- fahrwerken auf Tiefseeboden. Ph.D. Thesis. Univ. of Hanover. (in German)
  3. Hayasi, I. 1975. Practical analysis of tracked vehicle steering depending on longitudinal track slippage. Proc. ISTVS Conf., Vol. 2.
  4. Hong, S. and J.-S. Choi. 2001. Experimental study on grouser shape effects on trafficability of extremely soft seabed. p. 115-121. In: Proc. 4th Ocean Mining Symposium. Szczecin, Poland.
  5. Hong, S., H.-W. Kim, and J.-S. Choi. 2002. A method for 3-D dynamic analysis of tracked vehicles on soft terrain of seafloor. p. 149-154. In: Proc. Fall KCORE Conference.
  6. Kitano, M. and M. Kuma. 1977. An analysis of horizontal plane motion of tracked vehicles. J. Terramechanics, 14, 211-225. https://doi.org/10.1016/0022-4898(77)90035-0
  7. Kitano, M. and H. Tyorzaki. 1976. A theoretical analysis of steerability of tracked vehicle. J. Terramechanics, 13(4), 241-258. https://doi.org/10.1016/0022-4898(76)90045-8
  8. Murakami, H., K. Watanabe, and M. Kitano. 1992. A mathematical model for spatial motion of tracked vehicles on soft ground. J. Terramechanics, 29, 71-81. https://doi.org/10.1016/0022-4898(92)90015-C
  9. RecurDyn-LM. 2002. User's Manual ver 4.3. FunctionBay.
  10. Tran, D.T., J. O'Brien, and T. Muro. 2002. An optimal method for the design of a robotic tracked vehicle to operate over fresh concrete under steering motion. J. Terramechanics, 39(1), 1-22. https://doi.org/10.1016/S0022-4898(00)00022-7
  11. Wong, J.Y. 1993. Theory of Ground Vehicles. John Wiley & Sons, New York.
  12. Zhang, Yilin. 1995. Prufstands und Rechnersimulation der Kurvenfahrt von Raupenfahrwerken auf extrem weichen Boden. Ph.D. Thesis, Univ. of Hanover. (in German)

Cited by

  1. A Study on Dynamic Modeling for Underwater Tracked Vehicle vol.29, pp.5, 2015, https://doi.org/10.5574/KSOE.2015.29.5.386
  2. A Study on the Steering Characteristics of Tandem Tracked Vehicle on Extremely Cohesive Soft Soil vol.32, pp.4, 2010, https://doi.org/10.4217/OPR.2010.32.4.361