Abstract
To clarify the dynamic characteristics of the rubber crawler vehicle equipped with movable track rollers, the dynamic models of the vehicle were constructed and motion equations were calculated from the models. As the result of comparison between those motion equations and the motion equations of the vehicle equipped with fixed track rollers, it was evident that the forces acting on movable track roller system from rubber crawlers are different from the force acting on fixed track rollers system even if the arrangement of track rollers is the same. Therefore, expantion equations for driving simulations by numerical analysis based on motion equations were proposed.
