The nonlinear dynamic equations of motion of the three-dimensional multibody tracked vehicle systems are developed, considering the degrees of freedom of the track chains. The recursive kinematic equations of the vehicle are expressed in terms of the independent joint coordinates. The independent differential equations of the vehicles are obtained using the velocity transformation method. The Newton-Euler equations of the vehicle components are defined and used to obtain a sparse matrix structure for the system dynamic equations. The track vehicle system is assumed to consist three kinematically decoupled subsystems. A penalty function approach that defines the constraint forces at selected secondary joint of the tracks is used.


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    Titel :

    Spatial dynamics of multibody tracked vehicles. Part I: Spatial equations of motion


    Beteiligte:
    Choi, J.H. (Autor:in) / Lee, H.C. (Autor:in) / Shabana, A.A. (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 29 , 1 ; 27-49


    Erscheinungsdatum :

    1998


    Format / Umfang :

    23 Seiten, 8 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch





    Spatial Dynamics of Multibody Tracked Vehicles Part I: Spatial Equations of Motion

    CHOI, J.H. / LEE, H.C. / SHABANA, A.A. | Taylor & Francis Verlag | 1998


    Spatial dynamics of multibody tracked vehicles part I: spacial equations of motion

    Choi,J.H. / Lee,H.C. / Shabana,A.A. et al. | Kraftfahrwesen | 1998



    Spatial Dynamics of Multibody Tracked Vehicles Part II: Contact Forces and Simulation Results

    LEE, H. C. / CHOI, J. H. / SHABANA, A.A. | Taylor & Francis Verlag | 1998