Study of the movement of an articulated vehicle for agricultural and construction related activities

The following report is aimed at describing the creation of a multi solid model of an articulated vehicle. This vehicle is a tractor with dual steering, used in vineyards and similar fields of agriculture which need improved turning and manoeuvring. The main characteristic of the model is that it is parametric, meaning it can be easily modified to simulate different kinds of articulated vehicles. The method used to reach these goals is the theoretical method of Bond Graph, which will be implemented in a simulation software named 20Sim. This software basically does simulations of Bond Graph diagrams, enabling the option of making 3D animations of the modelled systems. This report aims to describe the basic elements, simple or more complex, of the Bond Graph technique. The scope of this explanation goes from the basic bond graph elements to the more complex building blocks used for the creation of the model. Once it is done, it will be followed by the description of the model of the vehicle. Even though the simulation of the model with the real hydraulic system was not possible, a simpler one has been used to test the multi solid system, enabling the conclusion that it behaves correctly when actioned with an easily changeable hydraulic circuit. This allows the model to be a test bed for different systems, or iterations of the same one. The main issue with the designed model is that it requires real data to be calibrated, data which was not available during the making of this repor