In spite of an increasing number of rubber-tracked crawlers, the literature provides few guidelines and calculation models suitable for minimizing their internal motion resistance. This article presents a model where the internal resistance of double-flanged road wheels for rubber-tracked vehicles is calculated as a sum of the losses resulting from the indentation of the wheels into the track surface and friction of the wheels against the track guide lugs. The model allows for vertical and lateral load of the wheels, the non-uniform distribution of the wheel pressure on the track, and the relationship between the friction coefficient and normal reaction force in the interface between the wheel and track guide lugs. The model has been verified by experiments. According to the results of model computations and experiments discussed in the article, the internal losses of a given rubber-tracked undercarriage might be reduced if: the road wheels are covered with a material that exhibits low friction coefficient and mechanical hysteresis, the vehicle suspension system features oscillating bogie wheels, the undercarriage is fitted with the largest possible number of road wheels, and the vehicle weight is evenly distributed to all of the road wheels.

尽管橡胶履带履带的数量不断增加，但文献提供的指南和计算模型很少，适用于最小化其内部运动阻力。本文提出了一个模型，其中用于橡胶履带车辆的双法兰负重轮的内阻计算为车轮压入轨道表面和车轮与轨道导向凸耳摩擦造成的损失之和。该模型考虑了车轮的垂直和横向载荷，车轮压力在轨道上的非均匀分布，以及车轮和轨道导向凸耳之间界面处的摩擦系数与法向反作用力之间的关系。该模型已通过实验验证。根据文章中讨论的模型计算和实验的结果，