Advertisement

Design Issues for Tracked Boat Transporter Vehicles

  • Luca BruzzoneEmail author
  • Giovanni Berselli
  • Pietro Bilancia
  • Pietro Fanghella
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

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 analyzed by means of the Bekker model. Obviously, track dimensions also influence the vehicle mass and size, leading to a complex engineering problem. Since vehicle speed and acceleration are limited, stability during locomotion can be assessed using a quasi-static approach, computing the longitudinal and lateral tipping 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.

Keywords

Watercraft Small Boat Launch Beaching Tracked Vehicle Bekker Theory 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Beachlauncher Homepage, https://www.thebeachlauncher.com/, last accessed 2018/10/30.
  2. 2.
    The Beach Rover Homepage, https://www.beachrover.com/, last accessed 2018/10/30.
  3. 3.
    Wong, J. Y.: Theory of Ground Vehicles. 3rd edn. Wiley, New York, NY (2001).Google Scholar
  4. 4.
    Bekker, M. G.: Theory of Land Locomotion, University of Michigan Press, Ann Arbor, MI (1960).Google Scholar
  5. 5.
    Wong, J. Y., Huang, W.: Wheels vs. tracks – A fundamental evaluation from the traction perspective, Journal of Terramechanics 43(1), 27–42 (2006).CrossRefGoogle Scholar
  6. 6.
    Ellotech Homepage, http://www.ellotech.it/, last accessed 2018/10/30.
  7. 7.
    Bruzzone, L., Quaglia, G.: Review article: locomotion systems for ground mobile robots in unstructured environments, Mechanical Sciences 3(2), 49–62 (2012).CrossRefGoogle Scholar
  8. 8.
    Ottonello, G., Berselli, G., Bruzzone, L., Fanghella, P.: Functional Design of Elloboat, a Tracked Vehicle for Launching and Beaching of Watercrafts and Small Boats. In: 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2018, Oulu, Fnland, Article number 8449173 (2018).Google Scholar
  9. 9.
    Bekker. M. G.: Off-the-road locomotion, The University of Michigan (1960).Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Luca Bruzzone
    • 1
    Email author
  • Giovanni Berselli
    • 1
  • Pietro Bilancia
    • 1
  • Pietro Fanghella
    • 1
  1. 1.University of GenoaGenoaItaly

Personalised recommendations