Design and Dynamics Analysis of the Walking System for an Articulated Crawler Tractor

Articulated crawler tractors, with their unique structure and performance, not only have increased capacity compared to traditional tractors but also possess high passing performance and maneuverability. This paper presents the design of the walking systems and a whole-vehicle simulation model for an articulated crawler tractor, enabling research on dynamics simulation. Firstly, the 3D models of track subsystems are established using Recurdyn software. The models are then optimized, which serve as the basis for developing simulation models of the whole vehicle. Subsequently, four simulated terrain conditions, including climbing, step, ditch, and grade E road surface, are created to evaluate the tractor's performance in passing and crossing obstacles under various operational scenarios. Finally, by comparing and analyzing the driving torque, track tension, and vertical acceleration required by the tractor to overcome obstacles, the superiority of the optimized track walking system is verified. Simulation results demonstrate that the optimized track exhibits excellent passing performance, meeting the obstacle-crossing requirements of the tractor while ensuring smoother travel and enhancing driving comfort.