As a major trackless equipment for underground mining, rubber-tired vehicle has been widely used in underground mines in many countries over the world.
作为井下无轨采矿方法主要设备的轮式无轨车辆，已在世界上许多国家的地下矿山广为应用。
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The paper deduces the dynamics equation of the underground trackless tyred vehicle, analyses and shows a calculating example.