11.2. Track_LM Tutorial (eTemplate)

11.2.1. Getting Started

1. In this tutorial, the cells for Header Type and Parameter Definition cell are colored, but the color doesn’t affect the data at all.

   

2. Once after an eTemplate model (Excel file) is imported to RecurDyn, a new model needs to be created to import another eTemplate model (or a modified model).

3. This tutorial provides the Excel data to be copied and pasted. You can copy and paste the data with the left scissors mark to the Excel sheet

11.2.1.1. Objective

In this tutorial, you will make eTemplate model (Excel file) for Low-mobility tracked vehicle. Firstly you will use Master sheet of eTemplate model and HC (Hierarchy Connector). And you will create track system using eTemplate, and simulate it.

11.2.1.2. Audience

This tutorial is intended for intermediate users of RecurDyn who previously learned how to use TrackLM toolkit and basic operation of the Microsoft Excel.

11.2.1.3. Prerequisites

You should first work through the 3D Crank-Slider and Engine with Propeller tutorials, or the equivalent and TrackLM tutorial. We assume that you have a basic knowledge of physics.

11.2.1.4. Procedures

The tutorial is comprised of the following procedures. The estimated time to complete each procedure is shown in the table.

Procedures	Time (minutes)
Modifying Template_Format Sheet	5
Using Master Sheet	10
Creating Track_HC Sheet for eTemplate HC	10
Creating bodies	10
Creating track assembly	10
Creating joints	10
Changing settings	10
Importing eTemplate file and running simulation	10
Total	75

11.2.1.5. Estimated Time to Complete

This tutorial takes approximately 75 minutes to complete.

11.2.2. Modifying Template_Format Sheet

11.2.2.1. Task Objective

Learn how to modify the Template_Format Sheet

11.2.2.2. Estimated Time to Complete

5 minutes

11.2.2.3. Modifying Template_Format Sheet

11.2.2.3.1. To modify Template_Format Sheet

1. On your Desktop, open the eTemplate file which exists in the same folder with this tutorial. ([eTemplate]Track_LM_Tutorial_Default.xlsx)

   (The file path: <InstallDir>\Help\Tutorial\eTemplate\CreationMode\TrackLM)

2. This file is the base file of eTemplate, which has the Template_Format Sheet. The purpose of this sheet is to decide how to handle this file.

   

3. You should modify the ModuleKey setting to use this eTemplate file for Track_LM. Type Module_TrackLM instead of Module_Professional

   

4. Now, this eTemplate file can be imported in TrackLM subsystem. But if you try to import this eTemplate file in other type of subsystem such as TrackHM or Chain, the below error message will be shown.

   

Tip

Copying the header and parameters using the eTemplate Helper

1. On the Customize tab, in the eTemplate group, click the Helper function to run the eTemplate Helper.

   

2. Click the Template Setting button.

3. Copy the header and parameters of the Template_Format sheet to the template.

4. Edit the values so that they fit the tutorial.

You may also need to add additional headers and parameters as you continue with this tutorial.

Or, you can copy the headers and parameters from the completed template file provided by RecurDyn.

(Template file path: <InstallDir>\HelpTutorial\eTemplateCreationMode\TrackLM\Tracked_Vehicle_Template.xlsx)

11.2.3. Using Master Sheet

11.2.3.1. Task Objective

Learn how to use Master Sheet

11.2.3.2. Estimated Time to Complete

10 minutes

11.2.3.3. Using Master Sheet

In this chapter, you will create several sheets to input many data systematically and you will create master sheet to handle several sheets. You will create the below sheets

• Track_HC

• Track_Body

• Track_Assembly

• Track_Joint

• Track_Setting

You can find Master Sheet next to Template_Format sheet. And this Master Sheet will include the information of the sheets which are used in this eTemplate model as below.

11.2.3.4. Editing Master Sheet

11.2.3.4.1. To use master sheet

eTemplate file must have Master Sheet. This tab is essential for RecurDyn to import an eTemplate file. So you must not remove or rename this sheet.

11.2.3.4.2. To edit sub sheets

1. You will create 5 sheets.

2. Add 5 sheets in the Excel file and rename them (Track_HC, Track_Body, Track_Assembly, Track_Joint, Track_Setting)

   

11.2.3.4.3. To edit Master Sheet

1. To control sub sheets, Master Sheet must have Headers and Parameters.

2. Input Header_Template_UserDefinedSheet as Header Type and input SheetName as Parameter Type.

3. Input headers and parameters as below

   Header_Template_UserDefinedSheet	SheetName
   Template_UserDefinedSheet	Track_HC
   Template_UserDefinedSheet	Track_Body
   Template_UserDefinedSheet	Track_Assembly
   Template_UserDefinedSheet	Track_Joint
   Template_UserDefinedSheet	Track_Setting

   The below image shows the Excel data after the above data are input.

   

Please pay attention that the names used for parameters are same to the names of the sub sheets.

11.2.4. Creating Track_HC Sheet for eTemplate HC (Hierarchy Connector)

11.2.4.1. Task Objective

In this chapter you will learn how to create eTemplate HC (Hierarchy Connector) to be used in the later chapters. The data will be input in Track_HC Sheet

11.2.4.2. Estimated Time to Complete

10 minutes

11.2.4.3. Understanding Track System

11.2.4.3.1. To construct Track System

Before input data to Track_HC Sheet, you need to understand the track system which will be created in this tutorial. (This is the same model used in TrackLM tutorial)

(The file path: <InstallDir>\Help\Tutorial\Toolkit\Track_LM\LowMobilityTrackedVehicle)

1. Track System can be roughly divided into 3 parts. Chassis, Undercarriage (Right side), Undercarriage (Left side).

2. HC (Hierarchy Connector) is used to define the relative position and orientation.

3. In this tutorial, HCs are defined relative to the position of Chassis. In other words, if the position of Chassis is moved, the entire Track System is moved.

   

11.2.4.4. Editing Track_HC Sheet

11.2.4.4.1. To input data in Track_HC Sheet

1. Select Track_HC Sheet.

   

2. Input HC_Initial_C for the position of Chassis. This will be used as reference position of the entire Track System.

   Header_HC	Name	X	Y	Z
   HC	HC_Initial_C	0	0	0

3. Input HC_Initial_R and HC_Initial_L for undercarriages. Parent means that the position of these HCs are relative to HC_Initial_C.

   Header_HC	Name	X	Y	Z	Parent
   HC	HC_Initial_R	250	-300	1000	HC_Initial_C
   HC	HC_Initial_L	250	-300	-1000	HC_Initial_C

4. Now you will Input the other HCs as below for the components of the right side undercarriage. So the parent must be HC_Initial_R.

   

5. For sprocket, position and orientation need to be defined to avoid the interference between the teeth of Sprocket and track links.

   Header_HC	Name	X	Y	Z	Parent	EA	EB	EG
   HC	HC_Sprocket_R	-2900	0	0	HC_Initial_R	89	0	-90

6. For the other parts except sprocket, only position needs to be input.

   Header_HC	Name	X	Y	Z	Parent
   HC	HC_Idler_R	-700	0	0	HC_Initial_R
   HC	HC_Wheel_1_R	-2460	-250	0	HC_Initial_R
   HC	HC_Wheel_2_R	-2220	-250	0	HC_Initial_R
   HC	HC_Wheel_3_R	-1930	-250	0	HC_Initial_R
   HC	HC_Wheel_4_R	-1640	-250	0	HC_Initial_R
   HC	HC_Wheel_5_R	-1350	-250	0	HC_Initial_R
   HC	HC_Wheel_6_R	-1110	-250	0	HC_Initial_R
   HC	HC_Carrier_Roller_1_R	-1780	360	0	HC_Initial_R
   HC	HC_Tensioner_R	0	0	0	HC_Initial_R
   HC	HC_Frame_R	0	0	0	HC_Initial_R
   HC	HC_Frame_Fixed_R	-1780	0	0	HC_Initial_R
   HC	HC_Tensioner_Fixed_R	-1200	0	0	HC_Initial_R

7. In this time, you will input data for left side undercarriage. Here you can find the advantage of using eTemplate. To create left side undercarriage, you just need to copy and paste the data for right side undercarriage and just change the Parent from HC_Initial_R to HC_Initial_L and change the HC Name R to L

   Header_HC	Name	X	Y	Z	Parent	EA	EB	EG
   HC	HC_Sprocket_L	-2900	0	0	HC_Initial_L	89	0	-90

   Header_HC	Name	X	Y	Z	Parent
   HC	HC_Idler_L	-700	0	0	HC_Initial_L
   HC	HC_Wheel_1_L	-2460	-250	0	HC_Initial_L
   HC	HC_Wheel_2_L	-2220	-250	0	HC_Initial_L
   HC	HC_Wheel_3_L	-1930	-250	0	HC_Initial_L
   HC	HC_Wheel_4_L	-1640	-250	0	HC_Initial_L
   HC	HC_Wheel_5_L	-1350	-250	0	HC_Initial_L
   HC	HC_Wheel_6_L	-1110	-250	0	HC_Initial_L
   HC	HC_Carrier_Roller_1_L	-1780	360	0	HC_Initial_L
   HC	HC_Tensioner_L	0	0	0	HC_Initial_L
   HC	HC_Frame_L	0	0	0	HC_Initial_L
   HC	HC_Frame_Fixed_L	-1780	0	0	HC_Initial_L
   HC	HC_Tensioner_Fixed_L	-1200	0	0	HC_Initial_L

   Now, Track_HC Sheet is completed.

8. Save the Excel file and import it into RecurDyn. How to import eTemplate file is explained in chapter 9.

9. The below image shows the result when you import the eTemplate file.

   

11.2.5. Creating Bodies

11.2.5.1. Task Objective

In this chapter, you will learn how to import CAD files and create track bodies

11.2.5.2. Estimated Time to Complete

10 minutes

11.2.5.3. Creating Chassis Bodies

1. Please select Track_Body Sheet.

   
2. Input the below information to import Chassis.x_t.

   (The file path: <InstallDir>\Help\Tutorial\Toolkit\eTemplate\CreationMode\Track_LM)

   Header_Body_Import	Name	RefFrame	FileName	UseAutoMerge
   Body_Import	Chassis	HC_Initial_C	Chassis.x_t	True

3. There are 2 options for Import. UseAutoMerge is the option to decide if you want to merge the imported files automatically. | Another option, which is not used in this tutorial is FilePath, | which is used when the CAD file exists in the different path from the path where eTemplate File (Excel file) is located.

4. You can use absolute coordinate input or relative coordinate input for RefFrame. You will use the relative coordinate input using HC_Initial_C which you created in the previous chapter. It means that Chassis uses the marker HC_Initial_C as a reference frame.

   

   Tip

   Absolute coordinate input vs. Relative coordinate input

   Absolute coordinate input uses numbers and commas directly. (e.g. 100, 200,300) relative coordinate input uses the existing marker name (ex : HC_Initial_C )

11.2.5.4. Creating Right-side Undercarriage

11.2.5.4.1. To create a track frame:

1. You will create a track frame where the track bodies will be fixed.

2. Import Track_Frame.x_t.

   (The file path: <InstallDir>\Help\Tutorial\Toolkit\eTemplate\CreationMode\Track_LM)

3. Input HC_Frame_R for RefFrame to make the track frame on the right side. (Refer to Track_HC Data Tree in chapter 4)

   Header_Body_Import	Name	RefFrame	FileName	UseAutoMerge
   Body_Import	Track_Frame_R	HC_Frame_R	Track_Frame.x_t	True

4. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.5.4.2. To create a sprocket:

1. You will create a sprocket, one of the track bodies.

   Header_TrackLM_Body_Sprocket	Name	RefFrame	GeometryProperty	color
   TrackLM_Body_Sprocket	Sprocket_R	HC_Sprocket_R	Info_GP_Sprocket	yellow

2. 2 options, GeometryProperty and color are used here. If options are not input, RecurDyn uses the default values.

3. To use GeometryProperty, you need to create an Information for it. Input Info_GP_Sprocket for GeometryProperty. You will create an Information, whose name is Info_GP_Sprocket below.

4. Input yellow for color.

5. To create an Information, Info_GP_Sprocket for GeometryProperty, please input as below.

   Header_TrackLM_Info_GeometryProperty_Sprocket	Name	AddendumCircleRadius	BaseCircleRadius
   TrackLM_Info_GeometryProperty_Sprocket	Info_GP_Sprocket	375	344

   DedendumCircleRadius	NumberOfTeeth	PitchCircleRadius	TrackLinkLoopRadius	TrackLinkPinCircleRadius
   339	26	365	365	24

6. The above data needs to be input in the same line as below.

   

7. Save the Excel file and import it into RecurDyn then the below model is created.

   

Tip

When you import eTemplate file for test

If you import the eTemplate file in the model you made in Chapter 4, you will see an error message. Because the eTemplate file you created in Chapter 5 includes the data for HC (Hierarchy Connector), eTemplate try to create them again even if they were created already.

11.2.5.4.3. To create an idler:

1. You will create an idler, one of the track bodies.

   Header_TrackLM_Body_FlangeCenter	Name	RefFrame	GeometryProperty	color
   TrackLM_Body_FlangeCenter	Idler_R	HC_Idler_R	Info_GP_Idler	yellow

2. 2 options, GeometryProperty and color are used here. If options are not input, RecurDyn uses the default values.

3. To use GeometryProperty, you need to create an Information for it. Input Info_GP_Idler for GeometryProperty. You will create an Information, whose name is Info_GP_Idler below.

4. To create an Information, Info_GP_Idler for GeometryProperty, please input as below.

   Header_TrackLM_Info_GeometryProperty_FlangeCenter	Name	InnerFlangeRadius	WheelRadius
   TrackLM_Info_GeometryProperty_FlangeCenter	Info_GP_Idler	350	320

5. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.5.4.4. To create wheels:

1. You will create 6 wheels.

   Header_TrackLM_Body_FlangeSingle	Name	RefFrame	GeometryProperty	color
   TrackLM_Body_FlangeSingle	RoadWheel_1_R	HC_Wheel_1_R	Info_GP_Wheel	green
   TrackLM_Body_FlangeSingle	RoadWheel_2_R	HC_Wheel_2_R	Info_GP_Wheel	green
   TrackLM_Body_FlangeSingle	RoadWheel_3_R	HC_Wheel_3_R	Info_GP_Wheel	green
   TrackLM_Body_FlangeSingle	RoadWheel_4_R	HC_Wheel_4_R	Info_GP_Wheel	green
   TrackLM_Body_FlangeSingle	RoadWheel_5_R	HC_Wheel_5_R	Info_GP_Wheel	green
   TrackLM_Body_FlangeSingle	RoadWheel_6_R	HC_Wheel_6_R	Info_GP_Wheel	green

2. To use GeometryProperty, you need to create an Information for it. Input Info_GP_Wheel for GeometryProperty. You will create an Information, whose name is Info_GP_Wheel below.

3. To create an Information, Info_GP_Wheel for GeometryProperty, please input as below.

   Header_TrackLM_Info_GeometryProperty_FlangeSingle	Name	FlangeRadius	HubRadius	WheelRadius
   TrackLM_Info_GeometryProperty_FlangeSingle	Info_GP_Wheel	80	40	70

4. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.5.4.5. To create a carrier roller:

1. You will create a carrier roller, one of the track bodies.

   Header_TrackLM_Body_FlangeCenter	Name	RefFrame	GeometryProperty	color
   TrackLM_Body_FlangeCenter	Carrier_R	HC_Carrier_Roller_1_R	Info_GP_Carrier	green

2. To create an Information, Info_GP_Carrier for GeometryProperty, please input as below

   Header_TrackLM_Info_GeometryProperty_FlangeCenter	Name	InnerFlangeRadius	WheelRadius
   TrackLM_Info_GeometryProperty_FlangeCenter	Info_GP_Carrier	60	45

3. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.5.4.6. To create a tensioner:

1. You will create a tensioner, one of the track bodies.

2. Import Tensioner.x_t.

   (The file path: <InstallDir>\Help\Tutorial\Toolkit\eTemplate\CreationMode\Track_LM)

   Header_Body_Import	Name	RefFrame	FileName	UseAutoMerge
   Body_Import	Tensioner_R	HC_Tensioner_R	Tensioner.x_t	True

3. Save the Excel file and import it into RecurDyn then the below model is created.

11.2.5.5. Creating Left-side Undercarriage

11.2.5.5.1. To create a track frame:

1. You will create a track frame where the track bodies will be fixed.

2. Import Track_Frame.x_t.

   (The file path: <InstallDir>\Help\Tutorial\Toolkit\eTemplate\CreationMode\Track_LM)

3. Input HC_Frame_L for RefFrame to make the track frame on the left side. (Refer to Track_HC Data Tree in chapter 4)

   Header_Body_Import	Name	RefFrame	FileName	UseAutoMerge
   Body_Import	Track_Frame_L	HC_Frame_L	Track_Frame.x_t	True

4. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.5.5.2. To create a sprocket:

1. You will create a sprocket, one of the track bodies.

   Header_TrackLM_Body_Sprocket	Name	RefFrame	GeometryProperty	color
   TrackLM_Body_Sprocket	Sprocket_L	HC_Sprocket_L	Info_GP_Sprocket	yellow

2. To use GeometryProperty, you need to create an Information for it. Input Info_GP_Sprocket for GeometryProperty. You already created Info_GP_Sprocket above so that you don’t need to create again.

3. The above data needs to be input in the same line as below.

   

11.2.5.5.3. To create an idler:

1. You will create an idler, one of the track bodies.

   Header_TrackLM_Body_FlangeCenter	Name	RefFrame	GeometryProperty	color
   TrackLM_Body_FlangeCenter	Idler_L	HC_Idler_L	Info_GP_Idler	yellow

2. You already created Info_GP_Idler above so that you don’t need to create again.

3. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.5.5.4. To create wheels:

1. You will create 6 wheels.

   Header_TrackLM_Body_FlangeSingle	Name	RefFrame	GeometryProperty	color
   TrackLM_Body_FlangeSingle	RoadWheel_1_L	HC_Wheel_1_L	Info_GP_Wheel	green
   TrackLM_Body_FlangeSingle	RoadWheel_2_L	HC_Wheel_2_L	Info_GP_Wheel	green
   TrackLM_Body_FlangeSingle	RoadWheel_3_L	HC_Wheel_3_L	Info_GP_Wheel	green
   TrackLM_Body_FlangeSingle	RoadWheel_4_L	HC_Wheel_4_L	Info_GP_Wheel	green
   TrackLM_Body_FlangeSingle	RoadWheel_5_L	HC_Wheel_5_L	Info_GP_Wheel	green
   TrackLM_Body_FlangeSingle	RoadWheel_6_L	HC_Wheel_6_L	Info_GP_Wheel	green

2. You already created Info_GP_Wheel above so that you don’t need to create again.

3. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.5.5.5. To create a carrier roller:

1. You will create a carrier roller, one of the track bodies.

   Header_TrackLM_Body_FlangeCenter	Name	RefFrame	GeometryProperty	color
   TrackLM_Body_FlangeCenter	Carrier_L	HC_Carrier_Roller_1_L	Info_GP_Carrier	green

2. You already created Info_GP_Carrier above so that you don’t need to create again.

3. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.5.5.6. To create a tensioner:

1. You will create a tensioner, one of the track bodies.

2. Import Tensioner.x_t.

   (The file path: <InstallDir>\Help\Tutorial\Toolkit\eTemplate\CreationMode\Track_LM)

   Header_Body_Import	Name	RefFrame	FileName	UseAutoMerge
   Body_Import	Tensioner_L	HC_Tensioner_L	Tensioner.x_t	True

3. Save the Excel file and import it into RecurDyn then the below model is created.

   

   Now, you completed creating both of undercarriages.

11.2.6. Creating Track Assembly

11.2.6.1. Task Objective

In this chapter, you will create a clone link and create track assembly using it.

11.2.6.2. Estimated Time to Complete

10 minutes

11.2.6.3. Creating Clone Link

11.2.6.3.1. To create a clone link

1. Please select Track_Assembly Sheet.

   

2. Before creating track assembly, clone link needs to be created in advance.

3. Input the below information to create clone link.

   Header_TrackLM_Clone_Link	Name	GeometryProperty	LinkGrouserProfile
   TrackLM_Clone_Link	LM_Clone_Link	Info_GP_Link	Info_LinkGrouserProfile

4. 2 options, GeometryProperty and LinkGrouserProfile are used here. If options are not input, RecurDyn uses the default values.

5. To create an Information, Info_GP_Link for GeometryProperty, please input as below.

   PinRadius	RightLength	LeftPinPosition	RightPinPosition
   24	119.5	-88.5,39	88.5,39

6. The above data needs to be input in the same line as below.

7. FileNameForGrouserProfile is the profile data to represent the shape of the grouser of a clonk link. You will import Grouser1.mat for it and this file must exist in the same path where the eTemplate file is located.

   Header_TrackLM_Info_LinkGrouserProfile	Name	FileNameForGrouserProfile
   TrackLM_Info_LinkGrouserProfile	Info_LinkGrouserProfile	Grouser1.mat

8. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.6.4. Creating Track Assembly

11.2.6.4.1. Creating Right-side Track Assembly

1. To create track assembly, the clone link which you just created before will be used.

2. Input the track bodies in order which consist of track assembly for the PassingEntityList. Input / between each track body.

3. Input PassingEntityList according to the below order.

   Sprocket RoadWheel (1~6) Idler Carrier.

   Header_TrackLM_Assembly	Name	TrackLinkClone	PassingEntityList	InOutList
   TrackLM_Assembly	LM_Assembly_R	LM_Clone_Link	Sprocket_R/Road Wheel_1_R/Road Wheel_2_R/Road Wheel_3_R/Road Wheel_4_R/Road Wheel_5_R/Road Wheel_6_R/Idler_R/Carrier_R	Out/Out/Out/Out/Out/Out/Out/Out/Out

4. InOutList the parameter to decide if the track link is located inside or outside of Passing Entities. Please be careful that the number of the data of PassingEntityList must be same to the number of the InOutList data.

5. To create an Information, Info_BushingForce for BushingForceParameter, please input as below.

   BushingForceParameter

   Info_BushingForce

   The data you input so far will look like as below

   

6. To use GeometryProperty, you need to create an Information for it. Input Info_BushingForce for BushingForceParameter. You will create an Information, whose name is Info_GP_Idler below.

   Header_TrackLM_Info_Assembly_BushingForce	Name	RotationPresetAngle
   TrackLM_Info_Assembly_BushingForce	Info_BushingForce	10

7. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.6.4.2. Creating Left-side Track Assembly

1. To create track assembly, the clone link which you just created before will be used.

2. Input the track bodies in order which consist of track assembly for the PassingEntityList. Input / between each track body. Please be careful that you need to input the track body names for left-side track assembly.

   Header_TrackLM_Assembly	Name	TrackLinkClone	PassingEntityList	InOutList
   TrackLM_Assembly	LM_Assembly_L	LM_Clone_Link	Sprocket_L/Road Wheel_1_L/Road Wheel_2_L/Road Wheel_3_L/Road Wheel_4_L/Road Wheel_5_L/Road Wheel_6_L/Idler_L/Carrier_L	Out/Out/Out/Out/Out/Out/Out/Out/Out

3. Please be careful that the number of the data of PassingEntityList must be same to the number of the InOutList data.

4. To use GeometryProperty, you need to create an Information for it. Input Info_BushingForce for BushingForceParameter. You will create an Information, whose name is Info_GP_Idler below.

5. You already created Info_BushingForce above so that you don’t need to create again.

   BushingForceParameter

   Info_BushingForce

6. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.7. Creating Joints

11.2.7.1. Task Objective

In this chapter, you will learn how to create joints to connect the bodies you created. Also you will create a ground for simulation.

11.2.7.2. Estimated Time to Complete

10 minutes

11.2.7.3. Creating Fixed Joints

11.2.7.3.1. To create Fixed Joint between Chassis and Track Frame

1. Please select Track_Joint Sheet.

   

2. You will create 2 fixed joints to fix both Track Frames on Chassis.

3. Input Chassis for BaseEntity and Track_Frame_R and Track_Frame_L for ActionEntity.

4. Input HC_Frame_Fixed_R and HC_Frame_Fixed_L for each of RefFrame.

   Header_JointEx_Fixed	Name	BaseEntity	ActionEntity	RefFrame
   JointEx_Fixed	Fix_Track_Frame_R	Chassis	Track_Frame_R	HC_Frame_Fixed_R
   JointEx_Fixed	Fix_Track_Frame_L	Chassis	Track_Frame_L	HC_Frame_Fixed_L

5. Save the Excel file and import it into RecurDyn then the below model is created.

6. You will create 2 fixed joints to connect both Tensioners on each Track Frame.

   

7. Input Track_Frame_R and Track_Frame_L for BaseEntity and Tensioner_R and Tensioner_L for ActionEntity.

8. Input HC_Tensioner_Fixed_R and HC_Tensioner_Fixed_R for each of RefFrame.

   Header_JointEx_Fixed	Name	BaseEntity	ActionEntity	RefFrame
   JointEx_Fixed	Fix_Tensioner_R	Track_Frame_R	Tensioner_R	HC_Tensioner_Fixed_R
   JointEx_Fixed	Fix_Tensioner_L	Track_Frame_L	Tensioner_L	HC_Tensioner_Fixed_L

9. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.7.4. Creating Revolute Joints

11.2.7.4.1. Revolute Joint creation and motion-defined

1. You will create 2 revolute joints to connect both sprockets on each Track Frame.

2. Input Track_Frame_R and Track_Frame_L for BaseEntity and Sprocket_R and Sprocket_L for ActionEntity.

3. Input HC_Sprocket_R and HC_Sprocket_R for each of RefFrame

   Header_JointEx_Revolute	Name	BaseEntity	ActionEntity	RefFrame
   JointEx_Revolute	Rev_Sprocket_R	Track_Frame_R	Sprocket_R	HC_Sprocket_R
   JointEx_Revolute	Rev_Sprocket_L	Track_Frame_L	Sprocket_L	HC_Sprocket_L

4. Each of revolute joint has Motion, so that the below option needs to be input.

   UseMotion	Motion
   TRUE	Info_Joint_01
   TRUE	Info_Joint_01

5. Since the motions use the option, you need to create an Information, whose name is Info_Joint_01 as below.

6. Firstly, you need to create an expression to be used for Motion either.

   Header_SubEntity_Expression	Name	ExpressionText
   SubEntity_Expression	Exp_Sprocket_Vel	-STEP(TIME, 0.1, 0, 1, 360D)

7. Create an Information whose name is Info_Joint_01 and input MotionType and MotionCondition as below.

   Header_Info_JointMotion	Name	Expression	MotionType	MotionCondition
   Info_JointMotion	Info_Joint_01	Exp_Sprocket_Vel	Standard	Velocity

8. Save the Excel file and import it into RecurDyn then the below model is created.

   

9. You will create 2 revolute joints to connect track bodies on each Track Frame.

11.2.7.4.2. To create Revolute Joint

1. Input as below to connect wheels and track frames for right-side undercarriage

   Header_JointEx_Revolute	Name	BaseEntity	ActionEntity	RefFrame
   JointEx_Revolute	Rev_Wheel_1_R	Track_Frame_R	RoadWheel_1_R	HC_Wheel_1_R
   JointEx_Revolute	Rev_Wheel_2_R	Track_Frame_R	RoadWheel_2_R	HC_Wheel_2_R
   JointEx_Revolute	Rev_Wheel_3_R	Track_Frame_R	RoadWheel_3_R	HC_Wheel_3_R
   JointEx_Revolute	Rev_Wheel_4_R	Track_Frame_R	RoadWheel_4_R	HC_Wheel_4_R
   JointEx_Revolute	Rev_Wheel_5_R	Track_Frame_R	RoadWheel_5_R	HC_Wheel_5_R
   JointEx_Revolute	Rev_Wheel_6_R	Track_Frame_R	RoadWheel_6_R	HC_Wheel_6_R

2. Input as below to connect carrier to track frame.

   Header_JointEx_Revolute	Name	BaseEntity	ActionEntity	RefFrame
   JointEx_Revolute	Rev_FlangeCenter_1_R	Track_Frame_R	Carrier_R	HC_Carrier_Roller_1_R

3. Input as below to connect tensioner to idler.

   Header_JointEx_Revolute	Name	BaseEntity	ActionEntity	RefFrame
   JointEx_Revolute	Rev_Idler_R	Idler_R	Tensioner_R	HC_Idler_R

4. Input as below for left-side undercarriage either.

   Header_JointEx_Revolute	Name	BaseEntity	ActionEntity	RefFrame
   JointEx_Revolute	Rev_Wheel_1_L	Track_Frame_L	RoadWheel_1_L	HC_Wheel_1_L
   JointEx_Revolute	Rev_Wheel_2_L	Track_Frame_L	RoadWheel_2_L	HC_Wheel_2_L
   JointEx_Revolute	Rev_Wheel_3_L	Track_Frame_L	RoadWheel_3_L	HC_Wheel_3_L
   JointEx_Revolute	Rev_Wheel_4_L	Track_Frame_L	RoadWheel_4_L	HC_Wheel_4_L
   JointEx_Revolute	Rev_Wheel_5_L	Track_Frame_L	RoadWheel_5_L	HC_Wheel_5_L
   JointEx_Revolute	Rev_Wheel_6_L	Track_Frame_L	RoadWheel_6_L	HC_Wheel_6_L
   JointEx_Revolute	Rev_FlangeCenter_1_L	Track_Frame_L	Carrier_L	HC_Carrier_Roller_1_L
   JointEx_Revolute	Rev_Idler_L	Idler_L	Tensioner_L	HC_Idler_L

5. Save the Excel file and import it into RecurDyn then the below model is created.

   

Now, you completed creating track system.

11.2.7.5. Creating Ground

1. In addition to the track system, you will import road where the track system will

2. You will Input the below information to import Terrain_Outline.rdf. This file must exist in the same path where the eTemplate file is located. If you want to use different road, you can use different rdf file.

   Header_RoadData_Import	Name	FileName
   RoadData_Import	Terrain_Outline	Terrain_Outline.rdf

3. Save the Excel file and import it into RecurDyn then the below model is created.

   

11.2.8. Changing Settings

11.2.8.1. Task Objective

In this chapter, you will change some settings such as Dynamic Analysis Setting, Icon/Marker size and etc.

11.2.8.2. Estimated Time to Complete

10 minutes

11.2.8.3. Changing Dynamic Analysis Settings

11.2.8.3.1. To change parameters for dynamic analysis:

1. Please select Track_Setting Sheet.

   

2. It is possible to change Simulation Time (End Time), Simulation Step (Step) and Plot Multiplier Step Factor using eTemplate.

3. Input as below.

   Header_Setting_DynamicAnalysis	SimulationTime	SimulationStep	PlotMultiplierStepFactor
   Setting_DynamicAnalysis	10	250	1

   

11.2.8.4. Changing Display Settings

11.2.8.4.1. To change Icon/Marker size:

1. It is possible to change Icon/Marker size using eTemplate.

2. Input as below.

   Header_Setting_Icon	IconSize	MarkerSize
   Setting_Icon	10	10

   

3. The above settings are same to below.

11.2.8.4.2. To change Background Color:

1. It is possible to change Background Color using eTemplate.

2. Input as below.

   Header_Setting_BackGround	BottomColor	TopColor	UseGradation
   Setting_BackGround	White	Black	TRUE

3. Please refer to the Appendix in the eTemplate manual for the color options you can use. Of course it is possible to input more colors using RecurDyn GUI.

   

11.2.9. Importing eTemplate File and Running Simulation

11.2.9.1. Task Objective

In this chapter, you will import the completed eTemplate file and run simulation.

11.2.9.2. Estimated Time to Complete

10 minutes

11.2.9.3. Importing eTemplate File

11.2.9.3.1. To import eTemplate file:

1. Launch RecurDyn

2. Input Track_LM_Tutorial for the name of the new model.

11.2.9.3.2. To executing eTemplate:

1. Since ModuleKey is set as Module_TrackLM, the eTemplate file can be imported only in Track_LM subsystem.

2. From the Subsystem Toolkit group of the Toolkit tab, click the Track(LM) function.

3. To execute eTemplate, from the eTemplate group of the Customize tab, click the Run function.

   

4. To import the eTemplate file (Excel file) created in the previous chapters, click Browse. The other files such as *.x_t, *.mat must exist in the same path with the eTemplate file.

11.2.9.4. Performing Analysis

11.2.9.4.1. To perform Analysis:

1. Click the Dynamic / Kinematic Analysis function in the Simulation Type group under the Analysis tab.

2. The Dynamic/Kinematic Analysis dialog box appears.

3. You can see that the parameters you changed in the previous chapter are applied.

4. Click Simulate.

   

5. Animate the model using the Play tool on the Animation Toolbar. Refer to TrackLM tutorial for more information on playing an animation.

6. Click the Stop tool to reset the model.