Abstract
The paper deals with the problem of unsupported pit traversal by a vehicle with 6×6 wheel arrangement. The paper contains passages from an unsupported pit traversal test report of “Korsak” wheel chassis. Typical test episodes are described. A design schematic is provided. Assumptions are provided. For the first time, a mathematical model is provided describing a dynamical pit traversal under recognition of the soil parameters, mass and inertia chassis specifications, as well as the travel speed. A conclusion is made that the obtained model is a more generalized case of existing models describing profile obstacle negotiation by wheel vehicles.
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