Hi Shubhankar, Chrono::Vehicle does not explicitly support skid steer vehicles (well, except tracked vehicles), but almost all pieces are available for you to model your own.
A related example is in demo_VEH_ArticulatedVehicle<https://github.com/projectchrono/chrono/tree/develop/src/demos/vehicle/articulated_vehicle> which models a vehicle with an articulated chassis. But you are probably thinking of something like a Bobcat skid steer loader? In that case, you can use a rigid axle<https://api.projectchrono.org/wheeled_suspension.html#wheeled_suspension_ChRigidSuspension> on the front and a rigid pinned axle<https://api.projectchrono.org/wheeled_suspension.html#wheeled_suspension_ChRigidPinnedAxle> on the rear. The only missing piece is then a driveline that mechanically links the wheels on the same side. A simple custom model for such a driveline is easy to implement. I can think of one showstopper: the steering input is not propagated to the driveline subsystem. Since at least one other user mentioned skid steer vehicles in the past and because this would provide more flexibility, I will look into modifying the Chrono::Vehicle data flow to pass all vehicle control inputs to various vehicle subsystems. I will reply to this message when that is available. At that time, you should be able to implement a custom driveline for such skid steer vehicles. --Radu From: [email protected] <[email protected]> On Behalf Of Shubhankar Kulkarni Sent: Monday, May 30, 2022 9:45 PM To: ProjectChrono <[email protected]> Subject: [chrono] Skid steer simulation Hello, I wished to know whether there is any pre-existing model in projectChrono that has a skid-steer mechanism for a wheeled platform?Is there a way to simulate it? Thanks & Regards, Shubhankar Kulkarni -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]<mailto:[email protected]>. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/6962c9d9-c3e9-4ec8-8b11-7cb7d0de2110n%40googlegroups.com<https://groups.google.com/d/msgid/projectchrono/6962c9d9-c3e9-4ec8-8b11-7cb7d0de2110n%40googlegroups.com?utm_medium=email&utm_source=footer>. -- You received this message because you are subscribed to the Google Groups "ProjectChrono" group. To unsubscribe from this group and stop receiving emails from it, send an email to [email protected]. To view this discussion on the web visit https://groups.google.com/d/msgid/projectchrono/PH0PR06MB8237744A93844CD40865FE1BA7DC9%40PH0PR06MB8237.namprd06.prod.outlook.com.
