The article considers the problem of increasing transport productivity, operational reliability and safety during cargo transportation by using articulated tracked vehicles and road trains with active trailers. The influence of the introduction of an electromechanical drive, the modernization of the propulsion unit and the steering control system on the lateral stability of an articulated tracked vehicle is analyzed. A mathematical model is described for calculating the lateral stability of the chassis of articulated tracked vehicles used in the regions of the Far North, Arctic and Antarctic. The model is based on developments carried out for the chassis of an articulated wheeled vehicle. The model allows calculating to determine the key geometric and kinematic parameters of the rotation, taking into account the action of external forces. The use of holonomic constraints in determining the critical speed of movement is determined by the physical picture of the beginning of overturning, which corresponds to the achievement of the critical folding angle of the sections. This approach makes it possible not to use empirical coefficients when assessing the instantaneous position of the center of gravity of the system, the center of rotation, the radius of rotation of the center of mass, and the critical speed of the chassis. The moment of the beginning of the rollover is determined by the disappearance of the normal reaction under the link caterpillar. The onset of lateral sliding is determined by the lateral force exceeding the lateral adhesion limit.
The article considers the features of performing kinematic and power analysis of a controlled power mechanism for the transmission of wheeled transport and transport-technological machines. Such mechanisms are currently used mainly on cars in order to improve handling, stability, traction and dynamic properties in severe road conditions. Such mechanisms are not produced in Russia, but theoretical studies are currently being conducted, the results of which will allow determining the main parameters of the mechanism and synthesizing its kinematic scheme. The proposed approaches are based on the methods used in the kinematic and force analysis of planetary gears, but it is taken into account that the mechanism of power distribution during operation has two degrees of freedom. It is indicated that there is a structural and functional similarity between the power distribution mechanism of the car and the turning mechanism of the tracked vehicle. A method is proposed for calculating the gear ratio of the power distribution mechanism according to the condition of matching the minimum possible turning radius provided by the steering trapezoid kinematics and the calculated turning radius.
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