Theory and experimental research on six-track steering vehicles

Abstract

The structural characteristics and steering behaviour of a six-track vehicle are described in this paper. Kinematic analysis for skid steering of a six-track vehicle under steady-state conditions on firm ground is conducted, with the relationship between thrust force and speed instantaneous centre of the track–terrain interface taken into consideration. A mechanical model for steady steering of a six-track vehicle is also presented based on the kinematic analysis. In this model, the steering inaccuracy and efficiency are defined to evaluate steering performance. The steering performance of a six-track vehicle is numerically simulated to analyse the effect of the structural parameters and deflection angles on tracks. A virtual prototype model is established based on the multi-body dynamics software RecurDyn for steering simulation and the findings coincide well with theoretical results. The theory and the virtual prototype simulations presented are verified by a power test of a bucket-wheel excavator. The method for analysing the steering performance of a six-track vehicle proposed in this paper provides a basis for designing a six-track vehicle.

Keywords:

• six-track vehicle
• steering performance
• drive power
• steering inaccuracy
• steering efficiency

Acknowledgements

This study was supported by the National Natural Science Foundation of China (Grant No. 51175216), Ministry of Education Fund for the Doctoral (Grant No. 3M2111222414), 863 Project (Grant No. 2012AA062002) and Graduate Innovation Fund of Jilin University (No. 20121081). The contribution of PhD candidate Li Yong in designing the experimental equipment and the help of the PhD candidate Yan Zhenhua in conducting the experiments are also gratefully acknowledged.