Professional Documents
Culture Documents
Magic Chrono Vehicle Track Support PDF
Magic Chrono Vehicle Track Support PDF
in
Chrono::Vehicle
Preview of the vertical application for track support in Chrono:: Vehicle
Machine-Ground Interaction Consortium (MAGIC), May 12-13, 2015
Dr. Holger Haut, SBEL UW-Madison
1
Agenda
Introduction
Track support
Evaluation models
Summary
In wheeled and tracked vehicles different key aspects have to be realized in the
modeling environment
E.g. the different suspension systems of wheeled vehicles are clearly defined
Track systems (simplified in sprocket&shoe) can be very different, depending on
their applications (e.g. battle tank vs doozer vs mining machines)
Parts
61 rigid parts
Joints
54 revolute joints
Degrees of freedom
(DOF)
61 DOF
Contacts
690 contacts
Automated positioning of the shoes as a track chain around the sprocket, idler,
wheels
Interaction between each track shoe and soil (force based)
Different tension systems for the road wheel (torsion bar, hydro-pneumatic
suspension)
Powertrain template
9
RYU, H.S, et al. A complimant track link model for high-speed, high-mobility tracked vehicles. International Journal for
Numerical Methods in Engineering. Int. J. Numer. Meth. Engng 2000, 2000, Bd. 48, 1481-1502
10
11
Fixed
Joint
Chassis (Hull)
Running Gear
Carrier Right
12
Alternative option
Assemblies and Parts
Connection elements
Force/Torque connections
Support
Roller
Sprocket
Idler
Road Wheel
Contact
End Stop
Tension
Force/Torque
Revolute/
Tranlational
Joint
Tensionsystem
Slider/Arm
Revolute
Joint
Revolute Joint
Tension
Force/Torque
Revolute/
Tranlational
Joint
Tensionsystem
Slider/Arm
Revolute
Joint
Revolute Joint
Revolute Joint
Revolute Joint
Damper
Mounting point
torsion bar left
side
Transmission
(countershaft)
Drive direction
Brake
Idler
14
Revolute/
Tranlational
Joint
Tension
Force/Torque
Road wheels
Torsions bar
Linear
Nonlinear
Hydro-pneumatic
End stop
Contact
End Stop
Tension systems
Slider/Arm (Boggie)
Road Wheel/
Idler
16
Fixed Joint
Contact
Geometry
Fixed Joint
Fixed
Joint
Disc
Contact
Geometry
Fixed
Joint
Disc
Disc
18
Contact
Geometry
Contact
Connection of
the shoes
Power
transmission
19
1 pin shoe
2 pin shoe
Shoe
geometry
Connector
geometry
Shoe geometry
Pictures:
Connector geometry
1 pin shoe
21
2 pin shoe
Krapke, Paul-Werner. Leopard 2 Sein werden und seine Leistung. www.books.google.de [online 8.26.2011]
http://books.google.de/books?id=q1gd7AuQvalC&dg=Leopard%202
22
23
24
M113
Leopard 2
M1 Abrams
Puma
Generating vehicle
design data as good as
possible
Non-confidential
25
Picture:
26
Picture:
[Online 5.11.2015]
http://www.army-technology.com/contractors/tracks/diehl/diehl3.html
http://www.panzer-modell.de/referenz/in_detail/skorpion/Bild_015.jpg
http://www.panzer-modell.de/referenz/in_detail/M113_Moersertraeger/M113_Moersertraeger_020.jpg
27
Well-known tank
Modern design
Actual track system
High power (1500hp)
Weight 62t (Leopard 2A6)
High velocity
Krapke, Paul-Werner. Leopard 2 Sein Werden und seine Leistung. www.books.google.de [online 8.26.2011] http://books.google.de/books?id=q1gd7AuQvalC&dg=Leopard%202.
KMW Kraus-Maffei Wegmann. www.kmweg.de. [Online] 2011. [Zitat vom: 29.8.2011.] http://www.kmweg.de/3037ZG93bmxvYWRfaWQ9NTk0MSZtZWRpZW%vcmRuZXJfaWQ9Mzc4MCZwYXJibnRfaWQ9NTQzMA~rechte~navi~download-center~downloads-detail.html
http://www.diehl.com/de/diehl-defence/produkte/kettenlaufwerkkomponenten/leichtgewichtsketten.html
28
Summary
Existing templates for wheeled vehicles in Chrono::Vehicles
Simulation environment for special applications are needed
Templates for tracked vehicles will be available in Chrono::Vehicle
Different templates will be developed, with the focus on tanks
Track support for Chrono::Vehicle will be integrated
Access to the Chrono:: components (e.g. DEM/DVI for soft soil)
Application and evaluation for different tanks are in progress
29
Thank You!
30