A Study on Dynamic Modeling for Underwater Tracked Vehicle

트랙기반 수중건설로봇의 운동 모델링에 관한 연구

  • Received : 2015.07.16
  • Accepted : 2015.10.22
  • Published : 2015.10.31


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


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