Validation of a Lightweight Unmanned Ground Vehicle Model for Undercarriage and Drive System Dynamic Loads Analysis

The modeling of lightweight unmanned ground vehicles (UGVs) with elastomeric tracks presents a challenge due to nonlinear contact mechanics and compliance characteristics that differ significantly from heavy steel-tracked platforms. This study validates a high-fidelity multibody dynamics model of a lightweight tracked UGV, developed in MSC Adams/View, against experimental. For this purpose, the necessary identification tests were also prepared and carried out. The multi-stage validation process utilized the ARAMIS optical measurement system to capture kinematic responses during track belt deflection, motion-resistance tests, and dynamic maneuvers, including acceleration, braking, and obstacle negotiation. The simulations incorporated a segmented track belt model with compliant force elements, calibrated contact parameters, and the full UGV model. The results demonstrated the strong accuracy between numerical models and real objects (track belt and UGV), with a mean relative error (MRE) of 4.16% for track belt deflection and an overall mean MRE of approximately 2.17% for the UGV suspension spring displacements. Following calibration, the simulated motion-resistance force differed by 0.03% from the reference value of 353.4 N. The developed UGV model accurately represents general dynamic behavior. The maximum relative error for the pitch-related angle α1 reached 11.99% during transient motion. This could be caused by geometric simplifications and longitudinal track belt stiffness estimation. The study demonstrates that the model provides a credible representation of the global undercarriage dynamics within the investigated operating conditions and may serve as a basis for subsequent analyses of undercarriage and drivetrain loads, while short-duration peak loads should be interpreted with caution.