A Study of Motion Performance on Small Unmanned Tracked Vehicles

• Main Authors: Wu Sheng Wei, 武昇緯
• Other Authors: 朱子文
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/64674236824156852455

碩士 === 國防大學理工學院 === 兵器系統工程碩士班 === 101 === Coast landing operations are one of possible military tactics taken by the opposite side of Taiwan Strait. In order to prevent the landing operation from the enemies, one possible way is to develop a small unmanned tracked vehicle carrying with remote control bombs which can be detonated after arriving at the destination. Because the vehicle may need to pass across difficult terrain such as hillsides with high grass, gravel ground, sandy beaches or mixed terrain. Under this condition, tracked vehicles are superior to wheeled vehicles. A small unmanned tracked vehicle model was built using ADAMS® software with 75 degrees of freedom. The main components of the virtual vehicle model include a vehicle body, sprockets, idlers, roadarms, roadwheels and tracks, in which the track component consists of 60 tracked blocks. Revolute joints and rotational spring-dampers were used to simulate the flexibility of the track. In addition, 300 nonlinear contact forces were created to express the mechanics between the tracks, roads, sprockets, idlers and roadwheels. The performance of the vehicle was examined by simulations of straight-line running, turning on the spot, slope climbing, and trench crossing. Simulation results of the slope climbing shows that a 9.3% forward shift of the centroid of the vehicle shortens the time from the highest position of the vehicle down to the horizontal surface up to 7.4%, and reduces the vertical offset up to 9.4%. The shift not only decreases the time exposing in enemies but also reduces the probability of being attacked. Furthermore, the original tracked vehicle can not across a trench with 45 cm width without shifting forward the centroid. Therefore, it may be argued that the moving performance regarding slop climbing and trench crossing can be improved with appropriate forward shift of the centroid.