Modeling and Simulation of a Tracked Vehicle:A Project-Based Approach using MSC Adams

Authored By Giuseppe Cirelli (Politecnico di Bari) Reina G. (Politecnico di Bari) di Maria E. (Japan Agency for Marine-Earth Science and Technology) Inoue T.(Japan Agency for Marine-Earth Science and Technology) Abstract As underwater robotics continues to gain traction in fields such as environmental monitoring, oceanographic research, and maritime defense, the development of robust and efficient locomotion systems becomes critical for ensuring reliable performance in complex underwater terrains. This project explores the dynamic modeling and simulation of a compact, tracked crawler vehicle named Piccolo designed specifically for seabed navigation. Conducted as part of an undergraduate research initiative, the project emerged from the collaboration between the Robotic Mobility Laboratory and the Japan Agency for Marine-Earth Science and Technology (JAMSTEC). Leveraging the capabilities of Hexagon’s MSC Adams suite, particularly the Adams Tracked Vehicle module, a detailed multibody dynamic model of Piccolo was developed to analyze its locomotion behavior under simulated underwater conditions (Fig.1). The simulation environment enabled accurate assessment of track–soil interaction, and system performance across a range of seabed compositions and slopes. Digital prototyping through MSC Adams proved to be a powerful tool for early-stage design validation, significantly reducing the need for physical prototypes and iterative testing. This workflow not only accelerated development but also provided valuable insight into key mechanical design parameters, enabling informed decisions during the conceptual phase. Moreover, the project highlighted the potential of simulation-based approaches for testing mobility strategies in environments where physical experimentation is costly, logistically challenging, or unfeasible. This interdisciplinary research underscores the growing importance of highfidelity simulation tools in the development of next-generation underwater robotic platforms. By bridging theoretical modeling with real-world constraints, the project demonstrates how virtual testing environments can serve as a cornerstone for innovation in marine robotics, ultimately contributing to more sustainable and reliable technologies for underwater exploration. *** Find out about MSC support for academia here: https://www.cadence.com/en_US/home/to...