Xe địa hình tốc độ cao hệ thống treo, đường ray, bánh xe và động lực học-High speed off-road vehicles suspensions, tracks, wheels and dynamics

High Speed Off-Road Vehicles Automotive Series Series Editor: Thomas Kurfess High Speed Off-Road Vehicles: Suspensions, Tracks, Wheels and Dynamics Maclaurin July 2018 Hybrid Electric Vehicles: Principles and Applications with Practical Perspectives, 2nd Edition Mi and Masrur October 2017 Hybrid Electric Vehicle System Modeling and Control, 2nd Edition Liu April 2017 Thermal Management of Electric Vehicle Battery Systems Dincer, Hamut and Javani March 2017 Automotive Aerodynamics Katz April 2016 The Global Automotive Industry Nieuwenhuis and Wells September 2015 Vehicle Dynamics Meywerk May 2015 Vehicle Gearbox Noise and Vibration: Measurement, Signal Analysis, Signal Processing and Noise Reduction Measures Tůma April 2014 Modeling and Control of Engines and Drivelines Eriksson and Nielsen April 2014 Modelling, Simulation and Control of Two-Wheeled Vehicles Tanelli, Corno and Savaresi March 2014 Advanced Composite Materials for Automotive Applications: Structural Integrity and Crashworthiness Elmarakbi December 2013 Guide to Load Analysis for Durability in Vehicle Engineering Johannesson and Speckert November 2013 High Speed Off-Road Vehicles Suspensions, Tracks, Wheels and Dynamics Bruce Maclaurin Retired ex Ministry of Defence UK This edition first published 2018 © 2018 John Wiley & Sons Ltd All rights reserved No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, electronic, mechanical, photocopying, recording or otherwise, except as permitted by law Advice on how to obtain permission to reuse material from this title is available at http://www.wiley.com/go/permissions The right of Bruce Maclaurin to be identified as the author of this work has been asserted in accordance with law Registered Office(s) John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, USA John Wiley & Sons Ltd, The Atrium, Southern Gate, Chichester, West Sussex, PO19 8SQ, UK Editorial Office The Atrium, Southern Gate, Chichester, West Sussex, PO19 8SQ, UK For details of our global editorial offices, customer services, and more information about Wiley products visit us at www.wiley.com Wiley also publishes its books in a variety of electronic formats and by print-on-demand Some content that appears in standard print versions of this book may not be available in other formats Limit of Liability/Disclaimer of Warranty While the publisher and authors have used their best efforts in preparing this work, they make no representations or warranties with respect to the accuracy or completeness of the contents of this work and specifically disclaim all warranties, including without limitation any implied warranties of merchantability or fitness for a particular purpose No warranty may be created or extended by sales representatives, written sales materials or promotional statements for this work The fact that an organization, website, or product is referred to in this work as a citation and/or 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John Wiley & Sons, 2018 | Series: Automotive series | Includes bibliographical references and index | Identifiers: LCCN 2018007653 (print) | LCCN 2018012003 (ebook) | ISBN 9781119258803 (pdf ) | ISBN 9781119258810 (epub) | ISBN 9781119258780 (cloth) Subjects: LCSH: Off-road vehicles Classification: LCC TL235.6 (ebook) | LCC TL235.6 M25 2018 (print) | DDC 629.228/8–dc23 LC record available at https://lccn.loc.gov/2018007653 Cover Design: Wiley Cover Images: Background: © solarseven/Shutterstock; Left: Range Rover Sport Offroad Presentation by Wachauring is licensed under CC BY-SA; Middle: © Rockfinder/Gettyimages; Right: Reservists Train to be Challenger tank crew, WMID-2013-044-350 © Crown Copyright 2013 Set in 10/12pt WarnockPro by SPi Global, Chennai, India 10 9 8 7 6 5 4 3 2 1 ffirs.indd 6/7/2018 12:15:57 PM To the late Professor David Crolla, whose advice, knowledge, encouragement and humour are sorely missed To my wife Jacqueline, for her encouragement and tolerance of my many hours communing with journals, papers, books and my computer vii Contents Series Preface  xiii Acknowledgements  xv Introduction  xvii Tracked Vehicle Running Gear and Suspension Systems  1.1 General Arrangement  1.2 Transverse Torsion Bars  1.3 Coil Springs  1.4 Hydrogas Suspensions  1.4.1 Challenger MBT Hydrogas Unit  1.4.2 Measured Characteristics of a Challenger Unit  1.4.2.1 Spring Characteristics  1.4.2.2 Damper Characteristic  11 1.4.2.3 Differential Pressure Across the Damper Valve  11 1.4.2.4 Force/Displacement Loop  11 1.4.2.5 Flow Rig  12 1.4.2.6 Suspension Damping of a Multi‐Wheeled Vehicle  13 1.4.3 Temperature Effects  13 1.4.3.1 Two‐Stage Units  15 1.4.3.2 Counter‐Spring Units  17 1.4.4 Other Types of Hydrogas Suspension  18 1.4.4.1 Twin‐Cylinder Units  18 1.4.4.2 In‐Arm Units  18 1.5 Dampers  20 1.5.1 Hydraulic Dampers  20 1.5.2 Friction Dampers  20 References  22 2.1 2.1.1 2.1.1.1 2.1.1.2 2.1.2 Vehicle Track Systems  23 Link Tracks  23 Single‐Pin Tracks  26 Dry‐Pin Tracks  26 Rubber‐Bushed Tracks  27 Double‐Pin Tracks  28 viii Contents 2.1.3 Rubber Track Pads, Road Wheels and Track Tensioners  31 2.1.3.1 Rubber Track Pads  31 2.1.3.2 Road Wheels  32 2.1.3.3 Track Tensioners  33 2.1.4 Track Loadings  33 2.1.4.1 Centrifugal Tension  33 2.1.4.2 Final‐Drive Torque Measurements  34 2.1.4.3 Lateral Horn Load  35 2.1.5 Rolling Resistance: Analytical Methods  35 2.1.5.1 On a Metal Wheel Path  35 2.1.5.2 On a Rubber Wheel Path  36 2.1.6 Rolling Resistance: Experimental Measurements  37 2.1.6.1 Chieftain 38 2.1.6.2 FV 432  39 2.1.6.3 Scorpion and Spartan  40 2.1.6.4 Summary 42 2.1.7 Noise and Vibration  42 2.1.8 Approaches for Reducing Noise and Vibration  43 2.1.8.1 Finite Element Analysis and Experimental Sprockets  43 2.1.8.2 Fully Decoupled Running Gear  44 2.1.8.3 Flexible Rubber Tracks  44 2.1.9 Reducing Noise and Vibration  44 2.1.9.1 Stage (a): Establishing the Principal Noise Sources  45 2.1.9.2 Stage (b): Design and Production of the Resilient Mountings  46 2.1.9.3 Stage (c): Test Results with the Resilient Mountings  47 2.2 Flexible Tracks  48 2.2.1 Earlier Flexible Tracks  49 2.2.2 Contemporary Flexible Tracks  50 2.2.3 ‘Proof‐of‐Principle’ Flexible Tracks for a Spartan APC  51 2.2.3.1 Mark Tracks  53 2.2.3.2 Mark Tracks  54 2.2.3.3 Mark Tracks  55 2.2.3.4 Durability Trials  57 2.2.4 Later Developments  57 References  58 Tracked Vehicle Suspension Performance: Modelling and Testing  59 3.1 Human Response to Whole‐Body Vibration (WBV) and Shock  59 3.1.1 BS 6841:1987 and ISO 2631‐1 (1997)  59 3.1.2 Further Standards Relating to WBV  61 3.1.2.1 Absorbed Power  61 3.1.2.2 The European Physical Agents (Vibration) Directive 2002/44/EC  64 3.1.2.3 ISO 2631‐5 (2004)  64 3.2 Terrain Profiles  64 3.2.1 Characterisation  64 3.2.2 DERA Suspension Performance Test Courses  65 3.2.3 Response of Multi‐Wheel Vehicles  66 Notation S(f) T V V W w zg zs zu αa αd ζ θ μ ωs ωu PSD in terms of frequency (Hz) time of exposure vertical velocity of seat base vehicle forwards speed vehicle weight (kN) terrain wavelength terrain profile displacement sprung mass displacement unsprung mass displacement approach angle departure angle damping ratio pitch angle ratio unsprung mass/sprung mass sprung mass natural frequency (rad s–1) unsprung mass natural frequency (rad s–1) Chapter 4 KB KM MB MM CB CM stiffness of the main body spring stiffness of the model spring mass of the main body mass of the model damping coefficient of the main body damping coefficient of the model Chapter 5 A fn n Ka Kh Kw K1 K2 KϕF KϕR V piston area of an air spring natural frequency polytropic index stiffness of an air spring vehicle heave stiffness warp stiffness stiffness at the wheel of the pitch interconnection spring stiffness at the wheel of the pure heave spring front axle roll stiffness rear axle roll stiffness volume of an air spring Chapter 6 Ccr Ceq k m critical damping coefficient equivalent damping coefficient stiffness of the spring mass carried by the spring 237 238 Notation X μ ω amplitude of vibration coefficient of friction frequency of vibration (rad s–1) Chapter 7 a length of track pad in x direction of track A area of track pad As, Bs, Cs, Ds shafts in double differential (Figure 7.4) B, C, D, E Magic Formula primary parameters , , , normalised parameters in Magic Formula B C D E Cα, Cs lateral and longitudinal force–slip stiffness Cfx, Cfy longitudinal and lateral slip stiffness of tyres CF centrifugal force CFx, CFy longitudinal and lateral components of centrifugal force CG centre of gravity c half the distance between track centres d horizontal distance between mid‐wheelbase and centre of sprocket/idler FDf, FDr components of drive force front and rear of outer sprocket FBf, FBr components braking force front and rear of inner sprocket Fpt track pretension force ΣFxo, FD sum of longitudinal forces on outer (drive) track ΣFxi, FB sum of longitudinal forces on inner (braking) track ΣFyo, ΣFyi sum of lateral forces on outer and inner tracks ΣFy1, ΣFy2 sum of lateral forces on axle 1, 2, etc Fx, Fy longitudinal and lateral forces on tyres Fx,max, Fy,max peak longitudinal and lateral forces on tyres Fr rolling resistance of tyres Fs normalised combined slip force Fzs static normal load on wheel/pad Fzr, Fzp normal loads on pads due to roll and pitch moments Fzt normal loads on pads due to vertical components of track forces G shear modulus of track pad rubber h height of CG k ratio of track longitudinal stiffness (sprocket to ground/sprocket to idler to ground) Ks shear stiffness of a track pad l half the wheelbase Mp, Mr pitch and roll moments Pp power for a pivot or neutral turn Po, Pi outer and inner shaft powers Pd drive power Ps steer power Pnt total net power R radius of turn to CG re effective sprocket radius combined slip sc Notation sy lateral slip sxt, sxb longitudinal slip in traction and braking t depth of track pad To, Ti, Td, Ts outer, inner, drive and steer shaft torques (Figures 7.1 and 7.4) x1, x2 distance from CG to axle 1, 2, etc xm slip value at maximum force in Magic Formula v peripheral velocity of tyre ya force value at maximum slip in Magic Formula vt track velocity in relation to wheel centre vx longitudinal velocity of wheel centre vo, vi outer and inner track velocities in relation to wheel centre, peripheral velocities of tyres Δv velocity difference between inner and outer wheels V velocity at CG W weight of vehicle X slip angle or longitudinal slip in Magic Formula β sideslip angle at CG γf, γr track angle at front and rear of vehicle (tangent from sprocket/idler to wheel and ground) , , normalised slip parameters δ front wheel steer angle κ, κb, κt tractive slip λ combined slip ωp angular rate of vehicle for a pivot or neutral turn Ωo, Ωi, Ωd, Ωs outer, inner, drive and steer shaft speeds (Figures 7.1 and 7.4) Chapter 8 b B, C, D, E ct CG CR CT CT20 CTP CI d FG FR FT h NC NM NMS NRR NGT tyre width primary coefficients in the Magic Formula cohesion from triaxial test gross traction coefficient rolling resistance coefficient net traction coefficient coefficient of net traction at 20% slip peak net traction coefficient cone index tyre diameter gross tractive force rolling resistance force net tractive force tyre section height expression for cohesive soils (Turnage) expression for cohesive soils expression for tyres with small deflection expression for rolling resistance in cohesive soils expression for gross traction in cohesive soils 239 240 Notation NS NSN N T N TS re rs rr R s sv SH, SV T V W x, X xm y, Y δ ω WES expression for sandy soils NRMM expression for sandy soils expression for tracked vehicles in cohesive soils expression for tracked vehicles in sandy soils effective tyre rolling radius static radius of tyre, wheel centre to ground rolling radius of tyre on a hard surface, free rolling normal reaction of tyre at ground surface longitudinal slip shear stress from simple shear vane horizontal and vertical shifts in the Magic Formula input torque forward velocity of the wheel vertical load on the wheel slip parameters in the Magic Formula slip at peak force in the Magic Formula force parameters in the Magic Formula tyre deflection on a hard surface rotational speed of wheel Chapter 9 FD equivalent transfer force in the differential FG gross tractive force FGF gross tractive force on faster‐running wheel FGFD gross tractive force of the faster‐running wheel as given by the differential transfer force FGFM gross tractive force of the faster‐running wheel as given by the Magic Formula FGS gross tractive force on slower‐running wheel FI equivalent input force to the differential FR rolling resistance force FT net tractive force FTF net tractive force of the faster‐running wheel FTS net tractive force of the slower‐running wheel Kd transfer ratio of proportional load differential PI input power to the differentials PI power dissipated in the differential ‘clutch’ Po output power of the vehicle re effective rolling radius s slip sf slip of the faster‐running wheel ss slip of the slower‐running wheel TD torque transfer in diff (clutch) TF torque to faster‐running wheel TI torque input to differential torque to slower‐running wheel TS Notation T W vf v i vs vt VV W ωf ωi ωs ωw input torque to wheel peripheral velocity of the faster‐running wheel equivalent input speed to the differential peripheral velocity of the slower‐running wheel peripheral velocity of tyre forward velocity of the wheel or vehicle vertical load on the tyre rotational velocity of the faster‐running wheel rotational input velocity of the differential rotational velocity of the slower‐running wheel rotational speed of the wheel Chapter 11 ay Fi FL Fo h t W Φ lateral acceleration (g units) vertical force at the inner wheel lateral force at the CG vertical force at the outer wheel height of the CG vehicle track vehicle weight body roll angle 241 243 Abbreviations AP APC ASAARL ASCOD ATZ BS CAD CG CI DBP DERA DROPS ERDC ESP FEM GDELS GVW IED IFV IRHD ISO ISTVS KMW MBT MI MMP MMPL NATO NRMM PCD PSD RCI RI RMQ RMS absorbed power, Automotive Products armoured personnel carrier US Army Aeromedical Research Laboratory Austrian Spanish Cooperation Development Automobiltechnische Zeitschrift British Standard computer‐aided design centre of gravity cone index drawbar pull Defence Evaluation and Research Agency demountable rack offload and pickup system Engineer Research and Development Centre electronic stability programme finite‐element modelling General Dynamics European Land Systems gross vehicle weight improvised explosive device infantry fighting vehicle International Rubber Hardness Degree International Standards Organisation International Society for Terrain‐Vehicle Systems Krauss Maffei Wegmann main battle tank mobility index mean maximum pressure limiting go/no‐go soil strength (CI) for the MMP method North Atlantic Treaty Organisation NATO Reference Mobility Model pitch circle diameter power spectral density rating cone index remoulding index root mean quad root mean square High Speed Off-Road Vehicles: Suspensions, Tracks, Wheels and Dynamics, First Edition Bruce Maclaurin © 2018 John Wiley & Sons Ltd Published 2018 by John Wiley & Sons Ltd 244 Abbreviations SRT TACOM TARDEC VCI VDV VLCI WBV WES static rollover threshold Tank Automotive and Armaments Command Tank Automotive Research, Development and Engineering Centre vehicle cone index vibration dose value vehicle limiting cone index whole‐body vibration Waterways Experiment Station (now ERDC) 245 Bibliography Gillespie, T D (1992) Fundamentals of Vehicle Dynamics Society of Automotive Engineers Wong, J Y (2001) Theory of Ground Vehicles John Wiley and Sons Pacejka, H B (2002) Tyre and Vehicle Dynamics Elsevier Butterworth‐Heinemann Mastinu, G and Ploechl, M (eds) (2014) Road and Off‐Road System Dynamics CRC Press, Taylor and Francis Group Reif, K R (ed.) (2014) Automotive Handbook Bosch GmbH Milliken, W F and Milliken, D L (1995) Race Car Vehicle Dynamics Society of Automotive Engineers Ogorkiewicz, R M (1968) Design and Development of Fighting Vehicles Macdonald & 10 11 Co Ltd Ogorkiewicz, R M (2015) Tanks, 100 Years of Evolution Osprey Publishing Heißing, B and Ersoy, M (2011) Chassis Handbook Vieweg + Teubner Griffin, M J (1990) Handbook of Human Vibration Academic Press Bekker, M G (1969) Introduction to Terrain-Vehicle Systems The University of Michigan Press High Speed Off-Road Vehicles: Suspensions, Tracks, Wheels and Dynamics, First Edition Bruce Maclaurin © 2018 John Wiley & Sons Ltd Published 2018 by John Wiley & Sons Ltd 247 Index a c Active suspensions  89–100 fast active (wide bandwidth)  97–100 slow active (narrow bandwidth)  93–97 ADM (Automatic Drive‐Train Management System) 203 Air springs natural frequency  107 ride height control  106 stiffness 106 Anthony Best Dynamics  46 Anti‐roll bars  117 Armoured Personnel Carriers see also Infantry Fighting Vehicle; Reconnaissance Vehicle FV432  27, 35, 38–40, 93 M113  44, 48, 52, 55, 219–220 Spartan  38–40, 45–46, 48, 53, 74, 140–143 Stormer  4, 20, 222 Warrior  1, 20, 33, 74, 75, 199 Articulated vehicles, tracked  217–222 BV 206  217 BVS 10  217 COBRA–positive pitch control  219 coupled M113s  219 Tucker SNO‐CAT  217 UDES XX20  220 Vityaz 221 Articulated vehicles, wheeled  222–226 GOER 223 MARV 224 Twister 224 Automotive products  94 Cambridge University Engineering Department 230 Caterpillar Inc.  50, 108 Central tyre inflation system (CTIS)  129 Challenger hydrogas unit, characteristics 8–18 damper characteristics  11–13 spring stiffness characteristics  9–11 temperature effects  13–18 Coil springs nested 7 presetting or ‘scragging’  tracked in bogie  in trailing arm  6, Wahl factor  wheeled, with axles 105 McPherson struts  107, 113 swing axles  105 trailing arms  112, 113 twin wishbones  107, 115 Cone penetrometer  180 Controllable suspensions active 91–100 adaptive damping  91 height and attitude control  89–91 semi‐active (controllable damping)  91 d Dampers friction  1, 19, 20, 94, 117, 131 hydraulic  1, 20, 129 High Speed Off-Road Vehicles: Suspensions, Tracks, Wheels and Dynamics, First Edition Bruce Maclaurin © 2018 John Wiley & Sons Ltd Published 2018 by John Wiley & Sons Ltd 248 Index DERA Suspension Performance Test Courses 65 ramps 62 random 62 sinewaves 62 Differentials double  90, 133–137, 167, 173, 174 free  166, 188, 211 limited slip  196, 203–208, 214, 215 lockable  133, 203, 204, 210, 211, 214, 215 Double differential types  133–137 Dowty Rotol  103, 110, 193 Driver control arrangements for skid steering 146 DROPS (demountable rack offload and pickup system)  103, 125, 127, 230 e Electronic stability program (ESP)  168, 230 h Human response to vibration and shock absorbed power  61, 63, 229 BS 6841:1987  59–64, 70, 71, 78 exposure action values  64 exposure limit values  64 ISO 2631–1 (1987)  63 ISO 2631–5 (2004)  59.61, 63 root mean quad weighted  61 root mean square weighted  60 vibration dose value  61 vibration response weighting filters  59, 60 Hydrogas springs  6, 8–18, 85, 89, 90, 95, 108, 113, 116, 118, 121 with external telescopic unit  19 in‐arm units  18, 19 twin cylinder units  18 i Infantry Fighting Vehicle  1, 20, 115 Interconnected suspensions  116–122 methods of interconnection  116–118 in pitch  117–119 in pitch Citroen 2CV  117–119 in roll  117 in roll and pitch  118 six wheel interconnection  121, 122 in warp  119–122 k Kegresse flexible track  49 Citroen half‐track truck with Kegresse flexible track  49 Krauss Maffei Wegmann (KMW)  44 l Leaf springs  103, 104, 217, 227 bogie with swing axles  105 bogie with twin axles  103 equivalent viscous damping  131 friction 131 with swing axles  103 Limited slip differentials  113, 196, 203–205 ADM (Automatic Drive‐Train Management System)  203 frictional, load dependant  205–215 NoSpin  108, 166, 167 velocity dependant  204 Liquid springs  93, 110–112 Lotus Engineering  97 m Magic Formula  139–143, 158, 159, 170, 198–201, 209 track longitudinal force/slip characteristics on roads  139–143 tyre combined force/slip characteristics on roads (Sharp)  158, 159 tyre longitudinal force/slip characteristics in cohesive soils  198–201 Main battle tanks (MBTs) Abrams  20, 31, 36, 89 Centurion 7 Challenger  8–18, 26, 31, 32, 66, 76–79, 83–86 Chieftain  7, 34, 37, 39, 193, 194 Cromwell 6 K2 Black Panther  19 Khalid  7, 26, 27, 32 Leclerc 18 Leopard 2  1, 20, 21, 31, 33, 135 M 60  33 MBT‐70 89 Merkava  8, 26 Panther 4 Index S‐tank  89, 90 MAN trucks  105 Mars rover ‘Curiosity’  120–122 Mean maximum pressure (MMP)  182, 183, 187, 188 Merritt steering model  136, 146, 159 Mobile tester (DERA)  183, 188, 196–199, 209 Mobility numbers NC (WES cohesive soil)  182 NM (DERA cohesive soil)  185, 225 NMS (DERA cohesive soil small tyre deflection) 186 NSN (NRMM frictional soil)  189 NS (WES frictional soil)  189, 192 N T (DERA cohesive soil track systems) 188 NTP (Tyre peak coefficient traction)  199 n Nexter Systems  18, 91, 113, 156 NRMM (NATO Reference Mobility Model)  61–63, 177, 180, 182, 190, 193, 195, 199 q QinetiQ tracked vehicle electric drive steering system  154 Quarter car model  68, 92, 123, 129 damping 69 natural frequency  69, 124 RMS dynamic suspension displacement 123 RMS dynamic tyre load  123 sprung/ unsprung weight  125 tyre pressure  125 weighted RMS body acceleration  70, 124 with wheelbase filter tracked  70 with wheelbase filter wheeled  126 r Radial ply tyres rolling radius  199, 200 rolling stiffness and damping  131, 132 soft soil performance (DERA mobile tester) 185 Reconnaissance Vehicle  115–117 Renk MBT transmission  135 Rollover 227–233 active anti‐roll bars  230, 232 electronic Stability Programs  230 static Rollover Threshold (SRT)  227 tilt table  228 truck rollover; a case study  230 s SITV (Sprung idler test vehicle)  85–87 Soils and surfaces  177, 178 cohesive (wet clays)  177, 178 frictional (dry sands)  178 organic 177 road (dry, wet, slippery, icy, split μ) 209 snow 178 Soil strength measurement methods Bekker, M.G.  180 cone Index  180 cone index gradient  189, 192 cone penetrometer  180 Coulomb 177 rating cone index  180 shear vane (shear strength)  192, 200 Terzaghi (civil engineering)  178 triaxial test (laboratory method)  200 Wong, J.Y.  180, 197 Soil/vehicle models Bekker, M.G.  180 FEM 180 MMP (Rowland)  182, 183 VCI (WES)  180–183 VLCI (DERA)  183–188 Wong, J.Y.  180, 197 Space efficiency, tracks v wheels  194, 195 Sprung cab  129 t Torque vectoring  166, 167, 169, 205 Torsion bars springs presetting 2 stresses 3 tracked transverse with trailing arms  wheeled transverse with trailing arms  113 twin wishbones  108 249 250 Index Track loadings cross bending  29 tensile centrifugal 34 duty cycle  34 vehicle drive  29, 30, 36 Track pads  31–32 Track performance noise and vibration  43–48 rolling resistance, analytical  36–38 rolling resistance, experimental  38–43 Tracks, flexible continuous, friction drive  50 continuous, sprocket drive  53–58 segmented  51, 52 wrapped with single connector  50 Tracks, link tracks double pin  28 double bodies and three connectors 29 single body and three connectors  29, 30 single body and two connectors  28 weight 31 single pin  23 needle bearings  26 plain pivot (dry pin)  26, 27 rubber bushed  27, 28 Tracks, soucy flexible DERA performance trials  53–56 performance and durability with standard road and cross country duty cycle  57 Track wheels  32, 33 Tractive efficiency  50, 196, 208, 210 v Vedovelli Priestley  133, 154 w Wheelbase filter  66–68, 70, 101, 126 Wheeled vehicle driveline systems H‐drive  103, 107, 112, 113 I‐drive  103 113–115 Wheeled vehicles armoured AMX 10RC  91, 113, 156, 157, 159, 195 Boxer  114, 115 Ferret 113 Fox 115 Luchs 115 Panhard AML  112, 113 Panhard EBR  113 Piranha  113, 114 Saladin 107 Saracen 106 Wheeled vehicles (unarmoured) Caterpillar mining truck  108 Euclid/Hitachi mining truck  110 Leyland DROPS  103, 125, 127, 129, 230, 231 MAN SX 8x8  105 Pinzgauer 105 Range Rover  106, 107 Stalwart 107 Wheeled vehicle suspension systems axle with coil springs and control links 105 axle with leaf springs  103 double wishbones  107, 108 McPherson strut  107, 113 swing axle  106 telescopic with integral steering pivot 108 trailing arms with drive shaft  113 trailing arms with internal transmission gearing  112, 113 ZF  206, 208 WILEY END USER LICENSE AGREEMENT Go to www.wiley.com/go/eula to access Wiley’s ebook EULA ...High Speed Off-Road Vehicles Automotive Series Series Editor: Thomas Kurfess High Speed Off-Road Vehicles: Suspensions, Tracks, Wheels and Dynamics Maclaurin July 2018 Hybrid Electric Vehicles: ... for Durability in Vehicle Engineering Johannesson and Speckert November 2013 High Speed Off-Road Vehicles Suspensions, Tracks, Wheels and Dynamics Bruce Maclaurin Retired ex Ministry of Defence... front three and rear two axle arm pivots The vehicle is fitted with rubber‐bushed double‐pin tracks (see Chapter 2) High Speed Off-Road Vehicles: Suspensions, Tracks, Wheels and Dynamics, First