Effect of track shoes structural parameters on traction performance of unmanned underwater tracked bulldozer

Abstract The unmanned underwater tracked bulldozer (UUTB) plays an essential role in emergency rescue caused by natural disasters. The traction force is produced by the interaction between the tracks and the soft sediments on the river bed. The structural parameter has great effects on the traction performance of the UUTB. To evaluate the traction performance produced by track shoes of the UUTB, the mechanical properties of π-shaped track, T-shaped track and V-shaped track are investigated in this paper. The length, width and grouser height of the tracks were changed to obtain the coupling mechanism between structural parameter and traction performance, which provides solid support for optimizing the track structural and improving the traction performance of the UUTB. Moreover, this work also provides dynamics fundamental for the control of anti-slip and stability of the UUTB.