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A Study on Dynamic Modeling for Underwater Tracked Vehicle
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 Title & Authors
A Study on Dynamic Modeling for Underwater Tracked Vehicle
Choi, Dong-Ho; Lee, Young-Jin; Hong, Sung-Min; Vu, Mai The; Choi, Hyeung-Sik; Kim, Joon-Young;
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The mobility of tracked vehicles is mainly influenced by the interaction between the tracks and soil. When the track of a tracked vehicle rotates, there will be a slip effect between the track and the soil, which creates a track shear force and the vehicle’s driving force. In this paper, the modeling of a working tool such as a trenching cutter and a tracked vehicle that is the lower frame of a track-based operating robot was performed. In addition, a numerical simulation was executed to verify the performance of the design objectives and the motion characteristics of the combined system.
Tracked vehicle;Trencher;Track slip;Shear force;Dynamic modeling;
 Cited by
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