Track link pins and sprocket tooth must be initially engaged properly. Too much initial penetration of link pins into the sprocket teeth often results in a simulation failure. Therefore, the sprocket must be rotated by using object control so that the initial penetration between the link pin and sprocket is small. If the sprocket is rotated after attaching the revolute joint between the sprocket and the chassis, the initial condition or motion expression must be modified accordingly or the base and action markers of joint must be redefined to be aligned.
Contacts of track chain are defined between track links and only the inside bodies of track chain system.