Planar Multi-body Dynamics of a Tracked Vehicle using Imaginary Wheel Model for Tracks

Ilango Mahalingam; Chandramouli Padmanabhan

doi:10.14429/dsj.67.11548

Ilango Mahalingam Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai
Chandramouli Padmanabhan Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai

DOI: https://doi.org/10.14429/dsj.67.11548

Keywords: Tracked vehicle, Multi-body dynamics, Differential algebraic equations, Augmented formulation, Contact forces

Abstract

Off-road vehicles achieve their mobility with the help of a track system. A track has large number of rigid bodies with pin joints leading to computational complexity in modelling the dynamic behaviour of the system. In this paper, a new idea is proposed, where the tracks are replaced by a set of imaginary wheels connected to the road wheels using mechanical links. A non-linear wheel terrain interaction model considering longitudinal slip is used to find out the normal and tangential contact forces. A linear trailing arm suspension, where a road arm connecting the road wheel and chassis with a rotational spring and damper system is considered. The differential algebraic equations (DAEs) from the multi-body model are derived in Cartesian coordinates and formulated using augmented formulation. The augmented equations are solved numerically using appropriate stabilisation techniques. The novel proposition is validated using experimental measurements done on a tracked vehicle.

Author Biographies

Ilango Mahalingam, Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai

Mr Ilango Mahalingam received his Bachelor of Engineering in Automobile Engineering from Madras Institute of Technology. He received his Master of Technology in Solid Mechanics from Indian Institute of Technology Madras, Chennai. Pursuing his Phd in the area of multi-body dynamic analysis of tracked vehicles at Indian Institute of Technology Madras, Chennai. His research interest includes Multi-body dynamics, Vehicle dynamics and Bio-mechanics.

Chandramouli Padmanabhan, Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai

Prof. Chandramouli Padmanabhan primary research interests are in the areas of Noise and Vibration as well as in Non-linear and Multi-body Dynamics. He has published nearly 150 international journal and conference papers and guided about 30 PhD and MS research scholars.