Modeling a 6x6 Rigid-Chassis, Skid-Steer Vehicle with Fiala Tires in Project Chrono

[Emrullah Cebeci]

Hello,

I am trying to develop a specific 6x6 vehicle simulation using the Project Chrono library. The model's technical requirements are as follows:

1. Chassis and Suspension: The vehicle will be a 6x6 platform and will not have a suspension system. The wheels will be rigidly mounted directly to the chassis.

2. Tire Modeling: The Fiala tire model is intended to be used for the tire-ground interaction.

3. Steering: The model will not have a conventional steering system. The vehicle will be steered using the "skid-steer" principle (i.e., through independent speed control of the left and right groups of wheels).

4. Drivetrain:

   • The system will feature two (2) independent motors.

   • Left Motor: Will drive the three (3) wheels on the left side.

   • Right Motor: Will drive the three (3) wheels on the right side.

5. Power Transmission: Power will be transmitted from the motors to the wheels via a chain mechanism. The wheels on the same side (e.g., the 3 left wheels) will be linked together by this chain system.

Could you please provide guidance on the steps and best practices for modeling a vehicle with this configuration in Project Chrono (specifically using Chrono::Vehicle)?

[Radu Serban]

With no suspension and no steering mechanism, there’s not much sense in modeling this vehicle in Chrono:Vehicle, other than having easy access to the tire models (although there are workarounds for that as well).  This type of actuation is not supported in Chrono::Vehicle, so you wouldn’t take advantage of the driveline and powertrain models either. 

 

What you need to model is a brick with 4 spindles, with all the more interesting part going into the actuation. The simplest way to model that is to begin by ignoring the dynamics of the chain and simply use rotational motors attached to each spindle and actuate them by imposing the angular speed for each side (you can include kinematically the effects of any gear reductions you may want to consider).

 

--Radu

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[Emrullah Cebeci]

Thank you for your answer. I currently have a model built with Chrono Physics. I need to integrate the Fiala tire model into this model. Could you provide guidance on how I can do this?

28 Ekim 2025 Salı tarihinde saat 16:22:21 UTC+3 itibarıyla Radu Serban şunları yazdı: