Track HM Design for Dynamic Analysis of 4-tracked Vehicle on Rough Terrain Using Recurdyn

Abstract

This study presents a method for parameter optimization of the Recurdyn track HM module for reliable dynamics analysis of driving on rough terrain for the 4-track mobile robot. In multibody dynamics analysis, the contact conditions among all driving parts, even those in contact with the ground, have significant effects on the reliability of the simulation. Thus, in this study, two indices of the peak and RMS value of the driving torque were selected to determine the quantitative sensitivities of the parameters relating to the contact conditions using the level average analysis of the Taguchi methodology. The results of the parameter optimization confirm that the abnormal fluctuations in the driving torque were decreased dramatically compared to the experimental results on identical driving terrain.