Terramechanics Models for Tracked Vehicle Terrain Interaction Analysis A Review

Abstract

Efficient manoeuvrability of off-road tracked vehicles such as military tanks and rovers is essential in ensuring the success of military/extra-terrestrial operations. To achieve this, in-depth research on vehicle-terrain interaction is crucial. This manuscript deals with reviewing the ways to study terramechanics viz. theoretical, empirical, and field tests, and proposing the merits and demerits of each method. Under the theoretical approach, empirical, numerical, and semi-empirical methods are discussed. Under the empirical approach, the method based onthe vehicle cone index for tracked and wheeled vehicles is discussed. Under the numerical approach, advantages and disadvantages of Finite Element Method (FEM) and Discrete Element Method (DEM) are discussed. Semi-empirical method, based upon a combination of the best features of numerical and empirical approaches discusses terrain response to normal repetitive loads and shear repetitive loads for tracked as well as wheeled vehicles. Pressure sinkage relationship for terrains at various loading conditions and shear stress displacement relationship for different terrains obtained through penetration and shear tests are discussed to determine the vehicle’s mobility parameters under a semi-empirical approach. Further, the Super element model, multi-body simulation model, and ride and cornering vibration model are discussed under computer simulation models. A detailed review of various models customized towards tracked vehicle-terrain interaction discussed in this manuscript helps the authors set up a laboratory for terramechanics at DIAT. Preliminary analysis along with conceptual design of the experimental setup is also discussed. In a nutshell, this paper attempts to summarize the research that has been carried out in the field of tracked vehicle-terrain inter action comprising of VCI, MMP, FEM, DEM, Super element model, Multibody technique, and Semi-empirical methods helping the authors to establish a laboratory of terramechanics for their M. Tech. program on Armament and Combat Vehicles at DIAT Pune.