Abstract: In order to accurately solve the kinematic parameters and mechanical parameters of articulated tracked vehicle in turning process, the kinematic model and mechanical model of the vehicle's steering hydraulic cylinder, and the kinematic model and mechanical model between the track and soil are established, in which the soil shear deformation and crawler slip are taken into consideration. The formulas of the angular velocity, angular acceleration of steering hydraulic cylinder, the steering radius, the shear resistance and steering resisting moment are theoretically derived. These formulas are solved numerically for a specific articulated tracked vehicle as an example. Finally a virtual prototype model of the articulated tracked vehicle is adopted to verify the theoretical model. This research can provide theoretical basis for the smooth steering control and structural optimization of articulated tracked vehicle.

Key words: machanical engineering, driving steering, articulated tracked vehicles, kinematic model, mechanical model