한국해양공학회지 (Journal of Ocean Engineering and Technology)

  • 제27권6호
  • /
  • Pages.81-89
  • /
  • 2013
  • /
  • 1225-0767(pISSN)
  • /
  • 2287-6715(eISSN)
한국해양공학회 (Korean Society of Ocean Engineers)
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수치해석을 이용한 연약지반 4열 강체 무한궤도 차량의 최적 선회비 연구

Study on Steering Ratio of Four-Row Rigid Tracked Vehicle on Extremely Cohesive Soft Soil Using Numerical Simulation

  • 김형우 (한국해양과학기술원 해양시스템연구부) ;
  • 이창호 (한국해양과학기술원 해양시스템연구부) ;
  • 홍섭 (한국해양과학기술원 해양시스템연구부) ;
  • 최종수 (한국해양과학기술원 해양시스템연구부) ;
  • 여태경 (한국해양과학기술원 해양시스템연구부) ;
  • 민천홍 (한국해양과학기술원 해양시스템연구부)
  • 투고 : 2013.09.16
  • 심사 : 2013.12.18
  • 발행 : 2013.12.31
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초록

This paper considers the steering characteristics of a four-row tracked vehicle crawling on extremely cohesive soft soil, where each side is composed of two parallel tracks. The four-row tracked vehicle (FRTV) is assumed to be a rigid body with 6-DOF. A dynamic analysis program for the tracked vehicle is developed using the Newmark-${\beta}$ method based on an incremental-iterative scheme. A terra-mechanics model of an extremely cohesive soft soil is implemented in the form of the relationships of the normal pressure to the sinkage, the shear resistance to the shear displacement, and the dynamic sinkage to the shear displacement. In order to investigate the steering characteristics of the four-row tracked vehicle, a series of dynamic simulations is conducted with respect to the distance between the left and right tracks (pitch), steering ratios, driving velocity, reference track velocity, lengths of the tracks, and properties of the cohesive soft soil. Through these numerical simulations, the possibility of using a kinematic steering ratio is explored.

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참고문헌

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