Dynamics modeling and simulation of tracked armored vehicle with planar clearance trunnion-bearing revolute joint

For analyzing the influence of the clearance between trunnion and bearing on vibration characteristics of a tracked armored vehicle during marching firing, the rigid-flexible coupling multibody dynamics model of a tracked armored vehicle is established according to the transfer matrix method for multibody systems, in which the clearance trunnion-bearing is considered. The coupling interaction between gun and projectile is also considered by applying launch dynamics theory. The interaction of trunnion-bearing is described by two planar clearance revolute joints, and its contact collision model and friction model are described by Lankarani-Nikravesh theory and modified Coulomb friction theory, respectively. According to the automatic deduction theorem, the overall transfer equations and overall transfer matrices of the tracked armored vehicle are derived. A typical planar four-bar mechanism with a clearance revolute joint is used as an illustrative example to validate the proposed method. Numerical simulations under the situations of the trunnion-bearing modeled as an ideal revolute joint and unideal revolute joints with different clearance sizes are performed to obtain the dynamics response of the muzzle and the projectile’s motion in bore. The influence of clearance trunnion-bearing on vibration characteristics of tracked armored vehicle is analyzed.