Spatial Dynamics of Multibody Tracked Vehicles Part I: Spatial Equations of Motion

In this paper, the nonlinear dynamic equations of motion of the three dimensional multibody tracked vehicle systems are developed, taking into consideration the degrees of freedom of the track chains. To avoid the solution of a system of differential and algebraic equations, the recursive kinematic equations of the vehicle are expressed in terms of the independent joint coordinates. In order to take advantage of sparse matrix algorithms, the independent differential equations of the three dimensional tracked vehicles are obtained using the velocity transformation method. The Newton-Euler equations of the vehicle components are defined and used to obtain a sparse matrix structure for the system dynamic equations which are represented in terms of a set of redundant coordinates and the joint forces. The acceleration solution obtained by solving this system of equations is used to define the independent joint accelerations. The use of the recursive equations eliminates the need of using the iterative Newton-Raphson algorithm currently used in the augmented multibody formulations. The numerical difficulties that result from the use of such augmented formulations in the dynamic simulations of complex tracked vehicles are demonstrated. In this investigation, the tracked vehicle system is assumed to consist of three kinematically decoupled subsystems. The first subsystem consists of the chassis, the rollers, the sprockets, and the idlers, while the second and third subsystems consist of the tracks which are modeled as closed kinematic chains that consist of rigid links connected by revolute joints. The singular configurations of the closed kinematic chains of the tracks are also avoided by using a penalty function approach that defines the constraint forces at selected secondary joints of the tracks. The kinematic relationships of the rollers, idlers, and sprockets are expressed in terms of the coordinates of the chassis and the independent joint degrees of freedom, while the kinematic equations of the track links of a track chain are expressed in terms of the coordinates of a selected base link on the chain as well as the independent joint degrees of freedom. Singularities of the transformations of the base bodies are avoided by using Euler parameters. The nonlinear three dimensional contact forces that describe the interaction between the vehicle components as well as the results of the numerical simulations are presented in the second part of this paper.     

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浅谈新改建公路养护介入及养护

转变养护理念,实行养护介入,健全移交制度,加大日常养护力度,实现公路寿命全周期使用,通过路域范围内脏、乱、差的治理,美化路域环境,实现畅、安、舒、美的养护目标。     

沥青路面再生技术在我省普通公路的应用前景分析

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普通桥梁减隔震支座可能发生翻滚失稳,并且存在肥大等弊端.针对这些问题,提出一种新型减隔震支座,它是由聚四氟乙烯滑板、肘块、支柱和高弹性阻尼橡胶体通过连杆连接而成.通过理论推导和分析,得出了新型减隔震支座的等价刚度和等价阻尼比的计算式和系统周期图示.应用大型专业分析软件ANSYS,对实际桥梁进行建模分析,结果表明,新型减震支座的应用,可以使桥梁的减隔震效果达到50%以上.     

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