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

Research Project

Project/Area Number 23780256
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Agricultural environmental engineering
Research InstitutionMie University

Principal Investigator

FUKUSHIMA Takashi  三重大学, 生物資源学研究科, 准教授 (00452227)

Project Period (FY) 2011 – 2013
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2013: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2012: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2011: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Keywordsゴム履帯 / ハーフトラック / 履帯張力 / CAD/CAE / 走行性 / CAE / 車両姿勢 / MBD / AVRマイコン / ジャイロ / 6自由度運動
Research Abstract

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.

Report

(4 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Research-status Report
  • 2011 Research-status Report
  • Research Products

    (20 results)

All 2014 2013 2012 Other

All Journal Article (6 results) Presentation (13 results) Remarks (1 results)

  • [Journal Article] 揺動式履帯走行装置における履帯張力変動の影響2014

    • Author(s)
      福島崇志,佐藤邦夫,小栗健史,井上英二,光岡宗司
    • Journal Title

      農業食料工学会関西支部誌

      Volume: 115 Pages: 35-36

    • Related Report
      2013 Annual Research Report 2013 Final Research Report
  • [Journal Article] MEMSセンサを用いた移動体の位置・姿勢推定―カルマンフィルタによる姿勢推定―2014

    • Author(s)
      福島崇志,佐藤邦夫,柳瀬宣彦
    • Journal Title

      農業食料工学会関西支部誌

      Volume: 115 Pages: 37-38

    • Related Report
      2013 Final Research Report
  • [Journal Article] MEMSセンサを用いた移動体の位置・姿勢推定 ― カルマンフィルタによる姿勢推定 ―2014

    • Author(s)
      福島崇志,佐藤邦夫,柳瀬宣彦
    • Journal Title

      農業食料工学会関西支部誌

      Volume: 115 Pages: 37-38

    • Related Report
      2013 Annual Research Report
  • [Journal Article] CAE機構解析ソフトウェアの利用2013

    • Author(s)
      福島崇志,佐藤邦夫,水谷俊介,小栗健史,光岡宗司,井上英二
    • Journal Title

      農業食料工学会関西支部誌

      Volume: 113 Pages: 11-13

    • Related Report
      2013 Final Research Report
  • [Journal Article] CAE機構解析ソフトウェアの利用2013

    • Author(s)
      福島崇志,佐藤邦夫,水谷俊介,小栗健史,光岡宗司,井上英二
    • Journal Title

      農業機械学会関西支部誌

      Volume: 113 Pages: 11-13

    • Related Report
      2012 Research-status Report
  • [Journal Article] ANALYSIS FOR DYNAMIC BEHAVIOR OF HALF-TRACKED TRACTOR BY CAE2012

    • Author(s)
      Fukushima T. and K. Sato
    • Journal Title

      Proceeding of ISMAB 2012

      Volume: -

    • Related Report
      2012 Research-status Report
  • [Presentation] INFLUENCE BY TENSION FLUCTUATION OF RUBBER CRAWLER IN A HALF-TRACKED TRACTOR2014

    • Author(s)
      Fukushima T., K. Sato, T. Oguri and Man su Cho.
    • Organizer
      The 7th International Symposium on Machinery and Mechatronics for Agriculture and Biosystems Engineering
    • Place of Presentation
      Yilan, Taiwan
    • Related Report
      2013 Final Research Report
  • [Presentation] ゴム履帯張力を考慮したCAD/CAE履帯モデル2014

    • Author(s)
      福島崇志,佐藤邦夫,小栗健史
    • Organizer
      農業食料工学会
    • Place of Presentation
      琉球大学,沖縄
    • Related Report
      2013 Final Research Report
  • [Presentation] INFLUENCE BY TENSION FLUCTUATION OF RUBBER CRAWLER IN A HALF-TRACKED TRACTOR2014

    • Author(s)
      Fukushima T., K. Sato, T. Oguri and Man su Cho
    • Organizer
      the 7th International Symposium on Machinery and Mechatronics for Agriculture and Biosystems Engineering
    • Place of Presentation
      Yilan, Taiwan
    • Related Report
      2013 Annual Research Report
  • [Presentation] ゴム履帯張力を考慮したCAD/CAE履帯モデル2014

    • Author(s)
      福島崇志,佐藤邦夫,小栗健史
    • Organizer
      農業食料工学会
    • Place of Presentation
      沖縄
    • Related Report
      2013 Annual Research Report
  • [Presentation] MEMSセンサを用いた移動体の位置・姿勢推定2013

    • Author(s)
      福島崇志,佐藤邦夫,柳瀬宣彦
    • Organizer
      農業食料工学会関西支部第130回例会
    • Place of Presentation
      津
    • Year and Date
      2013-11-01
    • Related Report
      2013 Final Research Report
  • [Presentation] 揺動式履帯走行装置における履帯張力変動の影響2013

    • Author(s)
      福島崇志,佐藤邦夫,小栗健史,井上英二,光岡宗司
    • Organizer
      農業食料工学会関西支部第130回例会
    • Place of Presentation
      津
    • Year and Date
      2013-11-01
    • Related Report
      2013 Final Research Report
  • [Presentation] 履帯張力を考慮した揺動式履帯走行部のCAD/CAEシミュレーション2013

    • Author(s)
      福島崇志,佐藤邦夫,小栗健史
    • Organizer
      農業機械学会関西支部例会
    • Place of Presentation
      神戸
    • Year and Date
      2013-03-05
    • Related Report
      2013 Final Research Report 2012 Research-status Report
  • [Presentation] Motion Estimation by Sensor Fusion with MEMS accelerometer and gyroscope2013

    • Author(s)
      Fukushima T., K. Sato, N. Yanase and M. Cho.
    • Organizer
      International Workshop on Agricultural Engineering and Post-harvest Technology for Asia Sustainability(AEPAS)
    • Place of Presentation
      Hanoi, Vietnam
    • Related Report
      2013 Final Research Report
  • [Presentation] Motion Estimation by Sensor Fusion with MEMS accelerometer and gyroscope2013

    • Author(s)
      Takashi FUKUSHIMA, Kunio SATO, Norihiko YANASE, and Mansu CHO
    • Organizer
      International Workshop on Agricultural Engineering and Post-harvest Technology for Asia Sustainability
    • Place of Presentation
      Hanoi, Vietnam
    • Related Report
      2013 Annual Research Report
  • [Presentation] MEMSセンサを用いた車両姿勢計測ユニットの製作2012

    • Author(s)
      福島崇志,佐藤邦夫,柳瀬宣彦
    • Organizer
      農業機械学会関西支部例会
    • Place of Presentation
      京都
    • Year and Date
      2012-03-05
    • Related Report
      2013 Final Research Report 2011 Research-status Report
  • [Presentation] ANALYSIS FOR DYNAMIC BEHAVIOR OF HALF-TRACKED TRACTOR BY CAE2012

    • Author(s)
      Fukushima T. and K. Sato.
    • Organizer
      The 6th International Symposium on Machinery and Mechatronics for Agriculture and Biosystems Engineering
    • Place of Presentation
      Jeonju, Korea
    • Related Report
      2013 Final Research Report
  • [Presentation] MEMSセンサを用いた移動体の位置・姿勢推定

    • Author(s)
      福島崇志,佐藤邦夫,柳瀬宣彦
    • Organizer
      農業食料工学会関西支部例会
    • Place of Presentation
      三重
    • Related Report
      2013 Annual Research Report
  • [Presentation] 揺動式履帯走行装置における履帯張力変動の影響

    • Author(s)
      福島崇志,佐藤邦夫,小栗健史,井上英二,光岡宗司
    • Organizer
      農業食料工学会関西支部例会
    • Place of Presentation
      三重
    • Related Report
      2013 Annual Research Report
  • [Remarks] ホームページ等 三重大学生物資源学部 応用環境情報学研究室

    • URL

      http://www.bio.mie-u.ac.jp/kankyo/joho/control/

    • Related Report
      2013 Final Research Report

URL: 

Published: 2011-08-05   Modified: 2019-07-29  

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