The Analysis and Test for the Steering Process of Tracked Vehicles on the Hard

email Abstract—Steering performances of tracked vehicle considering the skid of tracks-contact-ground has been studied. Models of traction force, brake force, turning resistance moment, turning radius and turning angular speed were established under the conditions of uniform pressure distribution and concentrated ground-contact-load distribution for the steering. Plane motion equations were solved by means of iterations. A real vehicle was carried out to compare with the models. The results show that the models are reasonable in the state of uniform pressure distribution. On hard road surface, turning radius is larger than that given by the traditional steering theory, and turning angular speed is lower than that consumed by the traditional steering theory. The situation that steering with concentrated contact-ground-load needs more driving wheel torque suits the fact better. Keywords-component; tracked vehicle; track pressure on groun; plan motion for steering; skid; slip; test of steering I