Elloboat is a tracked vehicle for launching and beaching of small boats and watercrafts, capable of operating in a wide range of operative conditions, here including rescue applications. This paper presents the vehicle architecture and discusses the main design issues. The effects of track dimensions on terrain compaction, bulldozing resistances and, consequently, on track sinkage are analyzed by means of the Bekker model. Obviously, track dimensions also influence the vehicle mass and size, leading to a complex engineering problem. Since vehicle speed and acceleration are limited, stability during locomotion can be assessed using a quasi-static approach, computing the longitudinal and lateral tipping angles for a given vehicle configuration and payload position, and imposing a proper limit to their minimum. Stability analysis can be exploited not only in the design phase, but also for the real-time evaluation of the actual margin of stability, so as to help the operator in the vehicle path/speed planning.

Design Issues for Tracked Boat Transporter Vehicles / Bruzzone, L.; Berselli, G.; Bilancia, P.; Fanghella, P.. - 73:(2019), pp. 3671-3679. ((Intervento presentato al convegno IFToMM World Congress on Mechanism and Machine Science tenutosi a Krakow nel 15-18 July, 2019 [10.1007/978-3-030-20131-9_362].

Design Issues for Tracked Boat Transporter Vehicles

Berselli G.;Bilancia P.;
2019

Abstract

Elloboat is a tracked vehicle for launching and beaching of small boats and watercrafts, capable of operating in a wide range of operative conditions, here including rescue applications. This paper presents the vehicle architecture and discusses the main design issues. The effects of track dimensions on terrain compaction, bulldozing resistances and, consequently, on track sinkage are analyzed by means of the Bekker model. Obviously, track dimensions also influence the vehicle mass and size, leading to a complex engineering problem. Since vehicle speed and acceleration are limited, stability during locomotion can be assessed using a quasi-static approach, computing the longitudinal and lateral tipping angles for a given vehicle configuration and payload position, and imposing a proper limit to their minimum. Stability analysis can be exploited not only in the design phase, but also for the real-time evaluation of the actual margin of stability, so as to help the operator in the vehicle path/speed planning.
IFToMM World Congress on Mechanism and Machine Science
Krakow
15-18 July, 2019
73
3671
3679
Bruzzone, L.; Berselli, G.; Bilancia, P.; Fanghella, P.
Design Issues for Tracked Boat Transporter Vehicles / Bruzzone, L.; Berselli, G.; Bilancia, P.; Fanghella, P.. - 73:(2019), pp. 3671-3679. ((Intervento presentato al convegno IFToMM World Congress on Mechanism and Machine Science tenutosi a Krakow nel 15-18 July, 2019 [10.1007/978-3-030-20131-9_362].
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/1252174
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