Dynamic Interaction between Crawler Shoes and Road : 3rd Report, Behavior of Shoes in Driving

Abstract

This report describes the effects of shoes on the road in driving. Through experimental and theoretical analysis using a scale model of a crawler-type vehicle, the slip, sinkage, inclination, shearing stress and ground pressure of a shoe are obtained quantitatively and considered synthetically. The dynamic behavior of a shoe affected by roller pressure, its front and back shoes behavior and road reaction is analyzed numerically in the overall shoe contact area and in the regions under the contact points of a roller and a shoe. The main reason for shoe contrary slip, which is undesirable for the generation of crawler tractive force, is found to be a fluctuation of shoes produced by the change of rolling pressure position as a roller moves from the rear to the front side of the vehicle.