Modeling Tracked Vehicle to Determine Undercarriage Performance

In tracked vehicles, the undercarriage frame components such as track shoes, sprocket, idler, rollers and their configuration plays an important role while transferring the loads from the ground to the main frame. To understand the loads coming on the upper frame and understand the power consumed to drive the vehicle, it is important to model the undercarriage components. This paper presents the methodology for modeling track systems dynamics and its energy analysis. A 3D model of tracked vehicle was developed using commercially available Multi-Body Dynamics tool and validated against test results. The contact parameters between ground and track shoes was determined by varying their values within a defined range based on empirical data available. The undercarriage performance was measured by determining the power required by the hydrostatic drivetrain motor. The contact friction between the sprocket and the track shoe is important to properly transfer the motion from the sprocket to track chain. This value is determined by measuring the power required in the test and estimating the friction value accordingly in the model. This model can be used to determine the loads on the undercarriage frame while travelling on concrete surface and analyze the power required during the operation.