Susceptibility Modeling of a Rubber Track for Lightweight Mobile Robots
Source abstract
Abstract
The elastic-damping properties of the rubber track structure can have a significant impact on the running gear performance of lightweight mobile robots. Taking these properties into account is particularly important for modeling obstacle negotiation and estimating the robot’s driving force. The article presents track susceptibility identification using both static and dynamic tests. The experimental results were used to validate the multi-body dynamics model of the rubber track for three modeling methods and for three track link number model variants. The methods and variants were compared by the accuracy of the susceptibility parameters obtained using them. The impact of the modeling methods on the track bending resistance simulations was also checked.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Soil Mechanics and Vehicle Dynamics · Mechanical Engineering and Vibrations Research · Vehicle Dynamics and Control Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Faculty of Mechanical Engineering, Military University of Technology, 00-908 Warsaw, Poland
Funding
Military University of Technology
References (52)
Show source-provided references
1. Gage, D.W. (1995). UGV History 101: A Brief History of Unmanned Ground Vehicle (UGV) Development Efforts, Naval Ocean Systems Center.
2. A Review of Mobile Robots: Concepts, Methods, Theoretical Framework, and Applications10.1177/1729881419839596 ↗
3. Lopatka, M., Rubiec, A., Przybysz, M., and Krogul, P. (2014). State of the Art of Working Capabilities and Mobility of Robots—“Medium Platform (Weight 800 Kg)” Project Report, Military University of Technology. (In Polish).
4. Power Solutions for Autonomous Mobile Robots: A Survey10.1016/j.robot.2022.104285 ↗
5. Bruzzone, L., Nodehi, S.E., and Fanghella, P. (2022). Tracked Locomotion Systems for Ground Mobile Robots: A Review. Machines, 10.10.3390/machines10080648 ↗
6. Lopatka, M. (2020). UGV for Close Support Dismounted Operations—Current Possibility to Fulfil Military Demand, Challenges to National Defence in Cotemporary Geopolitical Situation.10.47459/cndcgs.2020.2 ↗
7. “Wheels vs. Tracks”—A Fundamental Evaluation from the Traction Perspective10.1016/j.jterra.2004.08.003 ↗
8. Bando, K., Yoshida, K., and Hori, K. (1991). The Development of the Rubber Track for Small Size Bulldozers, SAE. SAE Technical Paper.10.4271/911854 ↗
9. Marcotte, T. (2016, January 13–15). Soucy Composite Rubber Track Technology. Proceedings of the 2016 India Ground Vehicle Systems Engineering and Technology Symposium, Novi, MI, USA.10.1016/S1350-4789(16)30277-X ↗
10. Performance of an Agricultural Tractor Fitted with Rubber Tracks10.1016/j.biosystemseng.2011.10.008 ↗
11. Improving the Tractive Performance of Walking Tractors Using Rubber Tracks10.1016/j.biosystemseng.2017.12.013 ↗
12. Suitability of Rubber Track as Traction Device for Power Tillers10.1016/j.jterra.2015.08.003 ↗
13. The Tractive Performance of Rubber Tracks and a Tractor Driving Wheel Tyre as Influenced by Design Parameters10.1006/jaer.1994.1062 ↗
14. Design and Test Methods of Rubber-Track Conversion System10.1177/0954407018794101 ↗
15. Experimental Study of a Tracked Mobile Robot’s Mobility Performance10.1016/j.jterra.2018.03.004 ↗
16. Prediction of the Tractive Performance of a Flexible Tracked Vehicle10.1016/j.jterra.2007.11.002 ↗
17. Wong, J.Y. (2001). Theory of Ground Vehicles, John Wiley.
18. Evaluation of the Effects of Design Features on Tracked Vehicle Mobility Using an Advanced Computer Simulation Model10.1504/IJHVS.2005.008304 ↗
19. A Method for Predicting the Internal Motion Resistance of Rubber-Tracked Undercarriages, Pt. 1. A Review of the State-of-the-Art Methods for Modeling the Internal Resistance of Tracked Vehicles10.1016/j.jterra.2021.02.006 ↗
20. Power Consumption of Tracked and Wheeled Small Mobile Robots on Deformable Terrains–Model and Experimental Validation10.1016/j.mechmachtheory.2018.12.001 ↗
21. Characterizing Energy Usage of a Commercially Available Ground Robot: Method and Results10.1002/rob.21507 ↗
22. Dąbrowska, A., Łopatka, M., and Rubiec, A. (2012, January 22–25). Research of the Hydrostatic Drive System of Lightweight Unmanned Ground Vehicle. Proceedings of the XXV Konferencja Naukowa Problemy Rozwoju Maszyn Roboczych, Zakopane, Poland. (In Polish).
23. A Method for Predicting the Internal Motion Resistance of Rubber-Tracked Undercarriages, Pt. 3. A Research on Bending Resistance of Rubber Tracks10.1016/j.jterra.2021.06.001 ↗
24. Rubber Friction: Role of the Flash Temperature10.1088/0953-8984/18/32/025 ↗
25. Liang, K., Tu, Q., Shen, X., Dai, J., Yin, Q., Xue, J., and Ding, X. (2023). Modeling and Verification of Rolling Resistance Torque of High-Speed Rubber Track Assembly Considering Hysteresis Loss. Polymers, 15.10.3390/polym15071642 ↗
26. How UGVs Physically Fail in the Field10.1109/TRO.2004.838027 ↗
27. Mobile Robot with Passively Articulated Driving Tracks for High Terrainability and Maneuverability on Unstructured Rough Terrain: Design, Analysis, and Performance Evaluation10.1007/s12206-018-1037-4 ↗
28. A Long-Tracked Bogie Design for Forestry Machines on Soft and Rough Terrain10.1016/j.jterra.2013.02.001 ↗
29. Ray, D.N., Maity, A., and Majumder, S. (2009, January 17–18). Comparison of Performance of Different Traction Systems for Terrainean Robots. Proceedings of the 14th National Conference on Machines and Mechanisms, NaCoMM NIT, Durgapur, India.
30. Ramachandran, P. (2015). Modelling and Dynamic Simulation of Tracked Forwarder in Adams ATV Module. [Master’s Thesis, KTH].
31. Modular Multibody Formulation for Simulating Off-Road Tracked Vehicles10.11114/set.v1i2.462 ↗
32. Li, Y., Zang, L., Shi, T., Lv, T., and Lin, F. (2022). Design and Dynamic Simulation Analysis of a Wheel–Track Composite Chassis Based on RecurDyn. World Electr. Veh. J., 13.10.3390/wevj13010012 ↗
33. Modeling Track-Terrain Interaction for Transient Robotic Vehicle Maneuvers10.1016/j.jterra.2008.07.003 ↗
34. Tracked Mechanism Simulation of Mobile Machine in MSC. ADAMS/View10.17221/9/2009-RAE ↗
35. Longoria, R.G., Krotkov, E.P., Mcbride, B., Longoria, R., and Krotkov, E. (2003, January 14–16). Measurement and Prediction of the Off-Road Mobility of Small, Robotic Ground Vehicles. Proceedings of the Performance Metrics For Intelligent Systems Workshop (PerMIS’03), Gaithersburg, MD, USA.
36. Agapov, D., Kovalev, R., and Pogorelov, D. (2011, January 4–7). Real-Time Model for Simulation of Tracked Vehicles. Proceedings of the ECCOMAS Thematic Conference Multibody Dynamics, Brussels, Belgium.
37. Pecka, M., Zimmermann, K., and Svoboda, T. (2017, January 24–28). Fast Simulation of Vehicles with Non-Deformable Tracks. Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada.10.1109/IROS.2017.8206546 ↗
38. Sokolov, M., Lavrenov, R., Gabdullin, A., Afanasyev, I., and Magid, E. (2016, January 7–11). 3D Modelling and Simulation of a Crawler Robot in ROS/Gazebo. Proceedings of the 4th International Conference on Control, Mechatronics and Automation, Barcelona, Spain.10.1145/3029610.3029641 ↗
39. Soft Soil Track Interaction Modeling in Single Rigid Body Tracked Vehicle Models10.1016/j.jterra.2018.01.001 ↗
40. Real-Time Model for Simulating a Tracked Vehicle on Deformable Soils10.1177/1687814016647889 ↗
41. A Super-Element of Track-Wheel-Terrain Interaction for Dynamic Simulation of Tracked Vehicles10.1007/s11044-005-9001-3 ↗
42. Abou-Hanna, J., Huck, F., and Sit, D. (1997). Finite Element Approach to Modeling the Dynamics Response of Rubber-Belted Tractor, SAE. SAE Technical Paper.10.4271/971563 ↗
43. Madsen, J., Negrut, D., and Heyn, T. (2010). Methods for Tracked Vehicle System Modeling and Simulation, University of Wisconsin.
44. A Comparative Study of Joint Formulations: Application to Multibody System Tracked Vehicles10.1007/s11071-013-1005-6 ↗
45. Multi-Body Kinematics of Shovel Crawler Performance in Rugged Terrains
46. A Detailed Multi-Body Model for Dynamic Simulation of off-Road Tracked Vehicles10.1016/j.jterra.2004.02.004 ↗
47. Modelling and Investigation of Dynamic Parameters of Tracked Vehicles
48. Research on the Influence of Virtual Modeling and Testing-Based Rubber Track System on Vibration Performance of Engineering Vehicles10.30765/er.38.3.5 ↗
49. Multibody Simulation of a Small Size Farming Tracked Vehicle10.1016/j.prostr.2017.12.013 ↗
50. Studying and Simulation Analysis for Rubber Track of Rescue Robot
51. (2023, September 17). MSC Software Corporation Adams 2021 Adams View User’s Guide. Available online: https://help.hexagonmi.com/bundle/Adams_2021.3_Adams_View_User_Guide/resource/Adams_2021.3_Adams_View_User_Guide.pdf.
52. (2023, September 17). ARAMIS Multisensor DIC Systems. Available online: https://www.gom.com/en/topics/aramis-multisensor-dic-systems.