TRACTION FORCES HIGHLY MANEUVERABLE VEHICLE

Abstract

There are known designs of maneuverable vehicles, in which all the wheels are pivoting and active, which complicates the design of the running system. The design of a highly maneuverable traction vehicle was proposed, which has only two diagonally located active wheels, they are also rotary. The other two wheels, also located diagonally, are self-aligning and active with the possibility of disabling the drive. For the design of such a highly maneuverable vehicle, a patent of the Russian Federation for No. 2006410 was obtained by one of the authors of the article.
Based on the proposed design solution, the calculated scheme of vehicle rotation is performed and the effect of the traction forces of self-aligning wheels is considered on its basis. The dependences of the influence of the steering angles of the controlled wheels on the radii and angles of rotation of the self-aligning wheels, as well as the lengths of the rods connecting the self-aligning wheels with their vertical hinges, are formulated. Using the obtained dependencies, it is possible to determine the parameters of the running system and the action of the traction forces of a highly maneuverable vehicle.
The components of the traction forces of the self-aligning wheels lying in the planes of the controlled wheels depend on the angles of rotation of the controlled wheels and the lengths of the rods connecting the self-aligning wheels with the corresponding vertical hinges.
With an increase in the angles of rotation of the controlled wheels and the lengths of the rods connecting the selfaligning wheels with the corresponding vertical hinges, the components of the traction forces of the self-aligning wheels perpendicular to the planes of the controlled wheels increase. A further increase in the components of the traction forces on these wheels can lead to skidding of the already controlled wheels.
The results of theoretical studies can be used to calculate the geometric parameters of the running system of a highly maneuverable vehicle with a diagonal arrangement of controlled and self-aligning wheels