Report on traction of the tracked vehicle (RM17-0035)

The tracked vehicle for rough terrain proposed by Robomech 2017 (RM 17-0035). Application verification can be easily done by using this vehicle. Regarding the crawler vehicle of this scale, there are not many reports on what kind of terrain, how much payload can be towed, etc. Therefore, we conducted an experiment to pull a truck carrying a load (weight) and quantified its traction performance. In the experiment, we measured the traction force and the possibility of towing by changing the condition such as the load on the traveling surface such as the flatland, the step, the inclination etc. We assumed a simple physical model and confirmed the consistency with experiment results. By confirming with this model, design of application verification can be performed more accurately. This paper reports on them.