Search Results

This paper presents a study related to an Articulated Amphibious All-Terrain Tracked Vehicle (ATV) characterized by a modular architecture. The ATV is composed by two modules: the first one hosts mainly the vehicle engine and powertrain components, 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 multiaxial joint designed to guarantee four relative degrees of freedom. To steer the ATV, an Electro Hydraulic Power System (EHPS) is adopted, thus letting the vehicle steerable on any kind of terrain without a differential tracks speed. The paper aims to analyze the steady-state lateral behavior of the ATV on a flat road, through a non-linear mathematical vehicle model built in Matlab/Simulink environment.