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In this work, a multibody model of a small size farming tracked vehicle is shown. Detailed models of each track were coupled with the rigid body model of the vehicle. To describe the interaction between the track and the ground in case of deformable soil, custom defined forces were applied on each link of the track model. Their definition derived from deformable soil mechanics equations implemented with a specifically designed routine within the multibody code. According to the proposed model, it is assumed that the main terrain deformation is concentrated around the vehicle tracks elements. The custom defined forces included also the effects of the track grousers which strongly affect the traction availability for the vehicle. A passive soil failure model was considered to describe the terrain behaviour subjected to the grousers action. A so developed model in a multibody code can investigate vehicle performance and limit operating conditions related to the vehicle and soil characteristics. In this work, particular attention was focused on the results in terms of traction force, slip and sinkage on different types of terrain. Tests performed in the multibody environment show how the proposed model is able to obtain tractive performance similar to equivalent analytical solutions and how the grousers improve the availability of tractive force for certain type of soil characteristics.

Grousers Effect in Tracked Vehicle Multibody Dynamics with Deformable Terrain Contact Model