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<p>We present a novel dual-vehicle serial anchoring machine equipped with a quadruple tracked system, designed to enhance excavation efficiency and operational safety in confined underground environments. Conventional parallel anchoring machines often fail to accommodate the spatial constraints of narrow mine tunnels; our serial configuration overcomes this dimensional limitation. A critical challenge, mismatched motion between front and rear track units, was systematically addressed through a physics-based vehicle–terrain contact dynamics model. The model was implemented in RecurDyn multibody simulation software and evaluated under three representative operating conditions: synchronized motion, asynchronous compression, and active traction modes. Simulation results show strong agreement with experimental data from a 1:1 physical scale prototype, with an average relative error in dynamic response below 5%. This study not only demonstrates a viable new architecture for underground anchoring but also establishes a validated framework for coordinated motion control in multi-unit tracked vehicles, offering a scalable solution for real-world deployment.</p>

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Driving dynamics of a dual-vehicle serial anchoring machine with a quadruple crawler tracked system

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年6月23日

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  • Miao Xie,
  • Bo Tian,
  • Yuqi Li,
  • Zhixiang Liu,
  • Jun Mao,
  • He Wang,
  • Shuai Wang,
  • Suning Ma

摘要

We present a novel dual-vehicle serial anchoring machine equipped with a quadruple tracked system, designed to enhance excavation efficiency and operational safety in confined underground environments. Conventional parallel anchoring machines often fail to accommodate the spatial constraints of narrow mine tunnels; our serial configuration overcomes this dimensional limitation. A critical challenge, mismatched motion between front and rear track units, was systematically addressed through a physics-based vehicle–terrain contact dynamics model. The model was implemented in RecurDyn multibody simulation software and evaluated under three representative operating conditions: synchronized motion, asynchronous compression, and active traction modes. Simulation results show strong agreement with experimental data from a 1:1 physical scale prototype, with an average relative error in dynamic response below 5%. This study not only demonstrates a viable new architecture for underground anchoring but also establishes a validated framework for coordinated motion control in multi-unit tracked vehicles, offering a scalable solution for real-world deployment.