Tracked Vehicle Support

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
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Agenda
Introduction
Track support

Track systems general

Characteristic
Background
Examples

Tracks for Chrono::Vehicle

Motivation
Specification
Concept
Topology
Modeling
Vehicles

Evaluation models
Summary

Introduction Track Support Chrono::Vehicle

In addition to the wheeled ground vehicles there will be in future a support for
tracked vehicles in Chrono::Vehicles
The same strategy for wheeled ground vehicles will be used for the track support
in Chrono::Vehicle

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)

Track Systems Characteristic

Chain systems are still challenging for modeling and simulation
High number of parts
High number of chain links
High degree of freedom
Parts are linked to a system
Leads to a high cross-linked
system

Parts
61 rigid parts
Joints
54 revolute joints
Degrees of freedom
(DOF)
61 DOF
Contacts
690 contacts

Track Systems Characteristic

Each individual parameter affects the
full system
E.g. tension force affects the
kinematic
Important for
Design engineer who has to take
care of the different parameters
Simulation and analysis engineer
who has to run the simulation
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Track Systems Characteristic

Manifold different systems
Each application has
its own challenges
Kinematic is defined more
or less by form closure
Free kinematic
Contact

Track Systems Characteristic

Chain systems are still challenging for modeling and simulation
Track systems depends on manifold parameters and their values
Drives the system to an modeling AND analyses problem
Dependencies give the opportunity for experts for a good analysis
Need for a simulation application to get more knowledge about the
system and understanding
Good example is the analyze of the mining machines with an own
developed plug-in for Adams
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Track Systems Motivation

Chrono::Vehicle offers templates for wheeled vehicle
Next step a template based extension for track systems for
Chrono:: Vehicle
Different tracked vehicle MBS software are available (MSC, Function
Bay etc.) but the soil is still a challenge
Chrono:: offers DEM/DVI, multiphysics, etc.
An open and expandable solution for tracked vehicle is very useful in
the viewpoint of an analyst
Motivated by a project of the US Army
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Track Systems Specification

Modeling and simulation systems for tracked vehicles (tanks)

Template based middleware software
Different kinematic systems of the track chain
Tracked vehicle model includes a full vehicle with a full modeled track systems
(no hybrid- or analytical-track chain)

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
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Tracks for Chrono::Vehicle Concept

Full vehicle of a tank
without turret

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
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Tracks for Chrono::Vehicle Concept

Left & right running gear
(track system)

Direct attached components

(standard)
Decoupled running gear
carrier (Infantry fighting
vehicle Puma)
Running gear carrier
includes e.g. suspension
and fuel tank
Pictures: [online 5.11.2015]

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http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Leopard 2, Ulrich Wrede

http://www.psm-spz.com/index.php?id=antrieb_laufwerk&L=1%27%22

Tracks for Chrono::Vehicle Concept

Bushing

Fixed
Joint

Chassis (Hull)
Running Gear
Carrier Right

Dash lines and light colors :

Blue boxes:
Green arrows:
Red arrows:

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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

Left and right running

gear (track systems)

Running Gear Carrier Left

Tracks for Chrono::Vehicle Concept

Tension systems
Road wheels
Torsions bar
End stop

Damper

Mounting point
torsion bar left
side

Transmission
(countershaft)

Torsion bar right side

Drive direction

Brake

Torsion bar left side

Pictures: [online 5.11.2015] http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Leopard 2, Ulrich Wrede
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Tracks for Chrono::Vehicle Concept

Idler
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Revolute/
Tranlational
Joint

Tension
Force/Torque

Road wheels
Torsions bar
Linear
Nonlinear
Hydro-pneumatic
End stop

Running Gear Right/Left

Contact
End Stop

Tension systems

Slider/Arm (Boggie)

Road Wheel/
Idler

Tracks for Chrono::Vehicle Concept

Road wheels
Idler
Support Roller
Remark
Rubber rim

Pictures: [online 5.11.2015] http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Leopard 2, Ulrich Wrede

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Tracks for Chrono::Vehicle Concept

Road wheels
Idler
Support Roller

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Tracks for Chrono::Vehicle Concept

Sprocket

Pictures: [online 5.11.2015]

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http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Leopard 2, Ulrich Wrede,

http://www.panzer-modell.de/referenz/in_detail/leo2a5/leo2a5.htm

Tracks for Chrono::Vehicle Concept

Sprocket

Fixed Joint

Running Gear Right/Left

Contact
Geometry

Fixed Joint

Fixed
Joint

Disc

Contact
Geometry

Fixed
Joint

Disc

Disc

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Contact
Geometry

Contact

Tracks for Chrono::Vehicle Concept

Track systems for tanks
Two significant differences for
simulation modeling

Actual tank track systems

Connection of
the shoes

Power
transmission

Connection of the shoes

Power transmission at the
sprocket/shoe

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1 pin shoe

2 pin shoe

Shoe
geometry

Connector
geometry

Tracks for Chrono::Vehicle Concept

Power transmission of sprocket & shoes

Shoe geometry

Pictures:

[online 5.11.2015] http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Ulrich Wrede

http://www.panzer-modell.de/referenz/in_detail/leo2a5/leo2a5.htm
http://www.army-technology.com/contractors/tracks/diehl/diehl3.html
http://www.panzer-modell.de/referenz/in_detail/skorpion/Bild_015.jpg

Connector geometry

Tracks for Chrono::Vehicle Concept

Connection of the shoes

1 pin shoe

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Pictures: [online 5.11.2015]

2 pin shoe

http://www.primeportal.net/tanks/ulrich_wrede/leopard_2a5_nl/ Ulrich Wrede

http://www.panzer-modell.de

Tracks for Chrono::Vehicle Concept

2 pin track shoe

Pin with rubber (bushing)

Pin is fixed connected with
end connector and middle
connector

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

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Tracks for Chrono::Vehicle Concept

2 pin track shoes

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Tracks for Chrono::Vehicle Concept

1 pin track shoes

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Tracks for Chrono::Vehicle - Evaluation

Models
Actual selected vehicles
for evaluation

M113
Leopard 2
M1 Abrams
Puma

Generating vehicle
design data as good as
possible
Non-confidential
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Picture:

[Online 05.11.2015], http://www.autobild.de/bilder/das-ist-der-leopard-2-revolution-4207050.html#bild7

http://www.tanea.gr/news/greece/article/5021945/nekros-stratiwths-apo-anatroph-stratiwtikoy-oxhmatos-sthn-ethnikh-athhnwn-lamias/
http://www.baainbw.de/portal/a/baain/!ut/p/c4/LYqxDoMwDAX_yA5th7YblKUrSxs2AxGyahwUmbLw8U2kvpNuuYc9ZpSPJNxVBJ8ox_5PuwwELECfWwLIkAiQQlf5T8FGKMGK7agxtlzIosJ1phMStlSygV4Qu-qtnGns_uvOm61f_Td1V3aZ9Phuiz1D3CsTfw!/
http://de.wikipedia.org/wiki/M1_Abrams

Tracks for Chrono::Vehicle - Evaluation

Models
Track systems and vehicles
M113
Armored personnel
carrier (APC)
Well-known tank

Both version of power

submission at
shoe/sprocket

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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

Tracks for Chrono::Vehicle - Evaluation

Models
Track systems and vehicles
M1 Abrams
Leopard 2
Main battle tank (MBT)

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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

Tracks for Chrono::Vehicle - Evaluation

Models
Track systems and vehicles
Puma
Infantry fighting vehicle (IFV)

One of the newest designs

Harmonized to actual MBTs
High power (~1000 hp)
Weight 31t-41t
Light weight track system

http://www.diehl.com/de/diehl-defence/produkte/kettenlaufwerkkomponenten/leichtgewichtsketten.html
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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

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Tracked Vehicle Support

in
Chrono::Vehicle

Thank You!

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