A new contact & slip model for tracked vehicle transient dynamics on hard ground

Ozdemir M. N., Kilic V., ÜNLÜSOY Y. S.

JOURNAL OF TERRAMECHANICS, vol.73, pp.3-23, 2017 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 73
  • Publication Date: 2017
  • Doi Number: 10.1016/j.jterra.2017.07.001
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.3-23
  • Keywords: Tracked vehicle, Steering, Transient lateral and longitudinal dynamics, Shear model, MOTION
  • Middle East Technical University Affiliated: Yes


This study presents a new general transient contact and slip model for tracked vehicles on hard ground which is simple, accurate, and in agreement with the test results to a satisfactory level. Simulating zero track speed instances become possible with the new contact/shear model which is the major proposed improvement in addition to more accurate results for transient steering and tractive inputs. The model represents a general tracked vehicle having rear or front sprockets, with parameters for center of gravity, wheel positions, number of wheels, and track-pretention. To calculate longitudinal and lateral forces, a transient shear model is used. Shear stress under each track pad is assumed to be a function of shear displacement. The contact time formulation used in shear displacement calculation is improved to gain accuracy for transient and zero track speed conditions.