Design Issues for Tracked Boat Transporter Vehicles. Bruzzone, L., Berselli, G., Bilancia, P., & Fanghella, P. Volume 73. Design Issues for Tracked Boat Transporter Vehicles, pages 3671–3679. 2019.
Design Issues for Tracked Boat Transporter Vehicles [link]Paper  Design Issues for Tracked Boat Transporter Vehicles [pdf]Paper  doi  abstract   bibtex   
Elloboat is a tracked vehicle for launching and beaching of small boats and watercrafts, capable of operating in a wide range of operative conditions, here including rescue applications. This paper presents the vehicle architecture and discusses the main design issues. The effects of track dimensions on terrain compaction, bulldozing resistances and, consequently, on track sinkage are ana- lyzed by means of the Bekker model. Obviously, track dimensions also influence the vehicle mass and size, leading to a complex engineering problem. Since ve- hicle speed and acceleration are limited, stability during locomotion can be as- sessed using a quasi-static approach, computing the longitudinal and lateral tip- ping angles for a given vehicle configuration and payload position, and imposing a proper limit to their minimum. Stability analysis can be exploited not only in the design phase, but also for the real-time evaluation of the actual margin of stability, so as to help the operator in the vehicle path/speed planning.

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