Browse Publications Technical Papers 2020-01-0996
2020-04-14

Steering behavior of an Articulated Amphibious All-Terrain Tracked Vehicle 2020-01-0996

This paper presents a study related to an Articulated Amphibious All-Terrain Tracked Vehicle (ATV) characterized by a modular architecture. In this case, an ATV with two modules is considered: the first one hosts mainly the vehicle engine and powertrain, meanwhile the second one can be used for goods transportation, personnel carrier, crane and so on. The engine torque is transmitted to the front axle sprocket wheel of each module and finally distributed on the ground through a track mechanism. The two modules are connected through a specific multiaxial joint able to guarantee four relative degrees of freedom between them. One of ATV main characteristics is an Electro Hydraulic Power System (EHPS) to steer the vehicle up to a minimum curvature radius of 6.5 m, thus letting the vehicle steerable on any kind of terrain without a differential tracks speed. The paper aims to analyze the kinematic and dynamic behaviour of the ATV on a flat road, through a simplified vehicle model built in Matlab/Simulink environment. The model describes the vehicle main planar motion and the interaction between the two modules through the EHPS. The influence of the mass distribution between the two modules on vehicle trajectory is studied through steady-state handling manoeuvres simulated in Matlab/Simulink. Furthermore, transient maneuvers are also simulated in order to evaluate the effect of joint stiffness and damping, introduced by hydraulic components of the steering system, on vehicle dynamics.

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