Proceedings of the Korea Committee for Ocean Resources and Engineering Conference (한국해양공학회:학술대회논문집)

Korean Society of Ocean Engineers (한국해양공학회)
권호 표지

A Method for 3-D Dynamic Analysis of Tracked Vehicles on Soft Terrain of Seafloor

해저 연약 지반 주행차량의 3차원 동력학 해석 기법

  • Hong, Sup (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • Kim, Hyung-Woo (Korea Research Institute of Ships and Ocean Engineering, KORDI) ;
  • Choi, Jong-Su (Korea Research Institute of Ships and Ocean Engineering, KORDI)
  • 홍섭 (한국해양연구원 해양개발시스템연구본부) ;
  • 김형우 (한국해양연구원 해양개발시스템연구본부) ;
  • 최종수 (한국해양연구원 해양개발시스템연구본부)
  • Published : 2002.10.25
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Abstract

A simplified 3D dynamic model of tracked vehicle crawling on cohesive soft soil is investigated. The vehicle is assumed as rigid body with 6-dof. Cohesive soft soil is modeled through relations: pressure to sinkage, shear displacement to shear stress, and shear to dynamic sinkage. Equations of motion of vehicle are derived with respect to the body-fixed coordinates. In order to investigate 3D transient dynamics of tracked vehicle, Newmark's method is employed based on incremental-iterative algorithm. 3D dynamic simulations are conducted for a tracked vehicle model and steering performance is investigated.

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