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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    Title :

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


    Contributors:
    Choi, J.H. (author) / Lee, H.C. (author) / Shabana, A.A. (author)

    Published in:

    Vehicle System Dynamics ; 29 , 1 ; 27-49


    Publication date :

    1998


    Size :

    23 Seiten, 8 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English