Attitude stabilization of half-tracked tractor based on rubber crawler tension

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Crawler tension is fluctuated according to the motion of the oscillating crawler unit in the half-tracked tractor. In this study, the relation between the fluctuation of the crawler tension and the tractor driving performance was researched to discuss the possibility for the driving control of the half-tracked tractor utilizing the crawler tension. The driving simulation by CAD/CAE mechanical analysis with the proposed crawler model considering the viscoelasticity in a circumferential direction was carried out. As the result of the simulation, the relation of the crawler tension and the driving performance was revealed, and utilization of crawler tension for control of half-tracked tractor was expected.