Multibody modelling and verification of a Lightweight Unmanned Ground Vehicle

Abstract

Unmanned Ground Vehicles (UGVs) are widely used in hazardous and unpredictable environments. Their drive and undercarriage systems are subjected to complex dynamic loads that can affect operational reliability. Simulation models can be used to analyse these forces, but existing studies often rely on simplified models that neglect some of important factors. The aim of this study is to develop, parameterize and numerically verify a detailed multibody model of a lightweight tracked UGV, with particular emphasis on the representation of the track system, suspension, drivetrain components and contact interactions. The verified model is intended to provide a basis for subsequent experimental validation and detailed load analysis. The model was created by using CAD-based geometry of a real platform and contained detailed representations of track segments, suspension elements, drivetrain components, and their interactions. The results demonstrate that the model reproduces key aspects of a real system and after validation can be used for further load analysis.