Abstract: To accurately solve the kinematic and mechanical parameters of the all terrain articulated tracked vehicle in the process of pitching movement, mathematical modeling method is adopted to establish the kinematic and mechanical models of the vehicle in pitching movement. The theoretical formulas of the maximum pitching angles, the maximum pitching heights, the motion trail radii of the centers of gravity of the front and rear vehicles, and the maximum pulling force of the articulated units are derived. Then, taking a specific articulated tracked vehicle as an example, the formulas are numerically solved. Finally, a virtual prototype of the articulated tracked vehicle is adopted to verify the theoretical models. It is shown that the theoretical and simulation results are in good agreement, the relative errors between the theoretical and simulation results do not exceed 15%. This error range meets the requirements of engineering practice. The results of this research work can provide a theoretical basis for designing and optimizing the structure of all terrain articulated tracked vehicles, and selecting the type of the pitching hydraulic cylinders.

Key words: machanical engineering, all terrain articulated tracked vehicles, pitching movement, kinematic model, mechanical model, virtual prototype technology