Abstract
Crawler-type vehicles have a higher mobility on the soft ground than wheel-type vehicles because of a low-ground pressure and a high-driving force. Therefore, it is important to understand the dynamic interaction between the soil and the track shoes during propelling on the soft ground, but there are few studies on such phenomena. Also the dynamic driving force, the dynamic ground pressure distribution and the dynamic behavior of the vehicles have not been developed theoretically at all. In this paper, a suitable simulation model, which considers the dynamic effect of the soil, has been proposed, and the equations of motion have been developed by Lagrange's equation.
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