A general theory for skid steering of tracked vehicles on firm ground

TLDR

The paper proposes a unified theory for skid steering mechanics of tracked vehicles, potentially extendable to transient handling. The study presents a general theory for skid steering of tracked vehicles under steady state on firm ground, incorporating the shear stress–shear displacement relationship at the track–ground interface. The theory enables quantitative determination of the lateral coefficient of friction as a function of turning radius, improving prediction of turning resistance. The theory’s predictions closely match field observations and experimental torque data, whereas earlier Steeds’ theory deviates significantly.

Abstract

A general theory for skid steering of tracked vehicles under steady state conditions on firm ground, taking into account the shear stress-shear displacement relationship on the track-ground interface, is presented. The steering behaviour predicted using the general theory bears a strong resemblance to that observed in the field. The variations of sprocket torques for the outer and inner tracks with turning radius predicted by the general theory are in reasonably close agreement with available experimental data. On the other hand, predictions based on Steeds’ theory developed earlier differ greatly from measured results. Using the general theory, the lateral coefficient of friction used in the conventional method for predicting the moment of turning resistance of the track can be quantitatively determined as a function of turning radius. It is believed that the new theory presented in this paper provides a unified approach to the study of the mechanics of skid steering of tracked vehicles and that it may be extended to the study of transient handling behaviour of tracked vehicles.