Abstract
The purpose of this research is to investigate the traveling performance of tracked vehicles on vertical step obstacle. The mathematical model describing obstacle surmounting motion is given in terms of specification of the tracked vehicle and obstacle parameters. Tests were conducted using a scale model on a step obstacle, and the experimental data were compared with the predicted values. It was found that, by the obstacle surmounting motion model considering terraintrack interaction, the surmounting ability for the vertical step obstacle could be accurately assessed. It was also found that the surmounting ability of the tracked vehicle was greatly affected by the geometric shape of the vehicle and the characteristics of the terrain.
