Fundamental study on underwater trafficability for tracked vehicle |
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| Institution: | 1. Department of Geosciences, Boise State University, 1910 University Dr., Boise, ID 83725-1535, United States;2. Department of Civil and Environmental Engineering, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA 02139, United States;3. Department of Earth, Atmospheric and Planetary Sciences, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA 02139, United States;4. Departments of Civil and Environmental Engineering and Earth and Atmospheric Sciences, Georgia Institute of Technology, 225 North Ave., Atlanta, GA 30332-0325, United States;1. Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, PR China;2. China North Vehicle Research Institute, Beijing 100000, PR China;1. Advanced Science and Automation Corp., Indianapolis, IN, United States;2. US Army CCDC GVSC, Warren, MI, United States |
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| Abstract: | In recent years, water disasters have increased in Japan. In water disaster, remote controlled vehicles which work for disaster recovery must run in water environment. Since underwater ground is likely to be soft, the vehicle has a risk of stuck. If a vehicle gets stuck at disaster sites, rescue work is difficult because it is not easily to access to that area. We must make a method for judging whether to run or not. For this purpose, we must quantitatively clarify the relationship between the trafficability and the strength, bearing capacity, etc. of underwater ground. We measured the cone index of underwater ground. From results, we confirmed that fragile layer was formed on the surface layer in underwater ground. We measured drawbar pull of a tracked carrier in test field. As a result, maximum drawbar pull of underwater ground was lower than on the ground. After slip occurs, drawbar pull of underwater ground was smaller than ground significantly. |
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| Keywords: | Trafficability Cone index Drawbar pull |
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