Dynamics of tracked vehicles during nonuniform turning on level terrain and on slopes

This paper presents a detailed kinematic and dynamic model of nonuniform skid steering for tracked vehicles on level terrain and uniform skid steering slopes. The objective is to find the required forces applied on both tracks to achieve the desired turning, aiding in determining the needed engine power for effective turning operation. The vehicle kinematics during turning is presented, followed by a complete dynamic analysis that considers the effect of centrifugal and inertia forces, as well as adhesion with the ground. The dynamic analysis of turning on slopes is developed, where the cases of turning while moving uphill and downhill are considered. Moreover, simulation analysis using MATLAB model is conducted to investigate the main turning characteristics on both level terrain and slopes. The model can accurately predict the required forces on both tracks for effective turning, and can aid in the design of more efficient tracked vehicles. Generally, the findings of this study can inform the design of more efficient tracked vehicles by providing insights into the needed driving forces and the required power to achieve the desired radius of turning at a specific vehicle speed. Article Highlights Presenting a complete kinematic and dynamic model of tracked vehicles during turning either in flat terrain or in slopes. Calculating the driving forces of the two tracks needed for specific radius of turning, in order to find the needed power. With this model, vehicle control during turning can be performed to prevent tracked vehicles from skidding during turning.