069 Tracked Bulldozer
DaveB
I would be really grateful if anyone can point me in the direction of any papers or code on GIT relating to this project 069 Tracked Bulldozer ( https://www.youtube.com/watch?v=rRUi9HcBkOw)
Dan Negrut
David, thanks for moving this over to the forum.
There is no bulldozer among the demos shipped with Chrono, so unfortunately there is no single script I can hand you. Everything you would need to build one is in the distribution, though, and it splits into three pieces.
1. The tracked vehicle.
Chrono::Vehicle ships two tracked models, the M113 and the Marder, under src/chrono_models/vehicle/. Good starting points:
- src/demos/vehicle/tracked_models/demo_VEH_TrackedJSON.cpp (and the _Band variant for a continuous band track), which drive a JSON-specified tracked vehicle.
- src/demos/vehicle/test_rigs/demo_VEH_TrackTestRig.cpp, if you want to study the track assembly on its own before putting it on terrain.
- src/demos/mbs/demo_MBS_tracks.cpp for the lower-level, hand-built track example.
2. The terrain, which is what actually makes a dozer interesting.
A blade pushing soil needs deformable terrain. Three options, in increasing order of fidelity and cost:
- SCM, a Bekker/Wong-type semi-empirical soil model: demo_VEH_SCMTerrain_TrackedVehicle.cpp. Fast, and good for sinkage and rut formation, but it does not move soil around, so it will not build a pile in front of a blade.
- CRM, our continuum (GPU SPH) representation: demo_VEH_CRMTerrain_TrackedVehicle.cpp. This one does capture soil flow and accumulation, which is likely what you are after.
- Granular DEM: demo_VEH_GranularTerrain_MovingPatch.cpp and friends, for particle-resolved soil. Most faithful, most expensive.
3. The blade.
The blade is not part of any vehicle model. You would add it as a rigid body with its own contact geometry, attached to the chassis (fixed, or through a joint plus an actuator if you want to raise and lower it), and let it interact with whichever terrain you chose above.
If you tell us which behavior matters most to you, rut formation and mobility, blade loads, or the soil piling up ahead of the blade, we can steer you to the right terrain model and point you at the relevant terramechanics papers. The choice between SCM and CRM really does depend on that answer.
Good luck with it,
Dan
------------------------------------------------
Robert and Laura Hensel Professor
NVIDIA CUDA Fellow
Department of Mechanical & Aerospace Engineering
Department of Electrical & Computer Engineering
Department of Computer Science
University of Wisconsin - Madison
4150ME, 1513 University Avenue
Madison, WI 53706-1572
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