Study of the turn kinematics of a wheeled vehicle with a variable track

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BACKGROUND: The trapezoidal lever mechanism used in the steering linkage for turning steerable wheels to change the motion direction of a wheeled vehicle does not fully meet the conditions for ensuring pure wheels rolling and corresponding to the correct turn kinematics, which is especially evident when adjusting the track.

AIM: Assessment of the degree of discrepancy between the actual turn kinematics and the correct turn kinematics when changing the track of the tractor.

METHODS: Analytical methods were used in the study, which made it possible to obtain some computational dependencies, to perform a numerical analysis of the curvilinear motion of a tractor with a variable track for different parameters of the steering linkage, and on this basis to establish patterns between the geometric characteristics of the steering linkage and the kinematic parameters.

RESULTS: Reasonable geometric characteristics of the steering linkage, which ensure the turn kinematic parameters closest to the required ones, are set for the most commonly used value of the width of the kingpin track. For the Belarus-80.1 tractor, it corresponds to 1.02 m. At the same time, for example, at a steer angle of the inner steerable wheel of 25°, the minimum turning radius ensured by the steering linkage differs by 0.6521 m (10.44%) and at the steer angle of 40° by 0.2829 m (9.27%) from their values obtained from the pure rolling condition. When changing the track width of the machine, there is a violation of the initial geometric characteristics of the linkage and the corresponding mismatch of the turn kinematic parameters ensured with the steering linkage and the correct turn kinematics increases. A comparison of the minimum turning radii at an angle of 25° and a kingpin track of 1.42 m showed an increase by 3.2340 m (35.83%), and at 40° — by 0.8956 m (20.21%).

CONCLUSION: To ensure the correct turn, it is necessary to conduct a thorough theoretical analysis of the steering linkage and to improve its design on this basis.

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作者简介

Alexander Belyaev

Voronezh State Agrarian University named after Emperor Peter the Great

Email: aifkm_belyaev@mail.ru
ORCID iD: 0000-0001-9195-7091
SPIN 代码: 3125-7630

Dr. Sci. (Engineering), Associate Professor, Head of the Applied Mechanics Department

俄罗斯联邦, Voronezh

Arkady Khimchenko

Voronezh State Agrarian University named after Emperor Peter the Great

编辑信件的主要联系方式.
Email: himch.arkady@yandex.ru
ORCID iD: 0000-0002-9340-4252
SPIN 代码: 4568-1757

Cand. Sci. (Engineering), Associate Professor, Associate Professor of the Agricultural Machines, Tractors and Automobiles Department

俄罗斯联邦, Voronezh

Tatyana Trishina

Voronezh State Agrarian University named after Emperor Peter the Great

Email: t.v.trishina@gmail.com
ORCID iD: 0000-0001-9976-979X
SPIN 代码: 2965-6960

Cand. Sci. (Engineering), Associate Professor, Associate Professor of the Applied Mechanics Department

俄罗斯联邦, Voronezh

Pavel Sheredekin

Voronezh State Agrarian University named after Emperor Peter the Great

Email: pavlo94_94@mail.ru
ORCID iD: 0009-0007-2852-5844
SPIN 代码: 3022-9650

Master, Postgraduate of the Applied Mechanics Department

俄罗斯联邦, Voronezh

参考

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  12. Belyaev AN, Trishina TV, Sheredekin PV. Main types of car steering systems. In: Problems and prospects for constructive improvement of the domestic automotive industry: materials of the All-Russian scientific and technical conference. Voronezh: VGLTU im GF Morozova; 2023:24–32. (in Russ.) doi: 10.58168/AutIndustry2023_24-32 EDN: SBPUWF
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  14. Operating manual for tractors “Belarus-80.1/82.1/820”. Minsk Tractor Plant LLC; 2015. (in Russ.)
  15. Belyaev AN, Orobinsky VI, Trishina TV, et al. Substantiation of geometric parameters of steering linkage of a wheeled vehicle. Vestnik Voronezhskogo gosudarstvennogo agrarnogo universiteta. 2023;16(2):116–123. (in Russ.) doi: 10.53914/issn2071-2243_2023_2_116 EDN: UVVOLI
  16. Belyaev AN, Sheredekin PV. Justification of the geometric parameters of the steering linkage of a vehicle with variable gauge. Science and education at the present stage of development: experience, problems and ways to solve them: materials of the international scientific and practical conference. Voronezh: Voronezhskiy gosudarstvennyy agrarnyy universitet im. Imperatora Petra I. 2023:8–11 (in Russ.) EDN: RIGKSA
  17. Patent RUS No. 224040 / 13.03.2024. Bull. 8. Belyaev AN, Sheredekin PV, Trishina TV. Steering trapezoid of a motor vehicle with a variable track (in Russ.) EDN: LOAVOI

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2. Fig. 1. Kinematic scheme of turning the machine under the condition of pure rolling of the wheels.

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3. Fig. 2. The kinematic scheme of the turning of the machine ensured with the steering linkage: 1 — a side pivot arm; 2 — a front axle of the machine; 3 — a transverse rod of the steering linkage.

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4. Fig. 3. Graphs of the dependences of the steer angles of the outer wheel on the steer angles of the internal wheel of the Belarus-80.1 tractor: ——— linkage; – – – – pure rolling at B = 1,02 m; −∙−∙− pure rolling at B = 1,22 m; ∙∙∙∙∙∙∙∙∙∙∙∙ pure rolling at B = 1,42 m.

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5. Fig. 4. Graphs of the dependence of the difference between the angles of rotation of the outer steerable wheel from the track along the pins and the angle of rotation of the inner steerable wheel of the tractor Belarus 80.1, obtained from the condition of pure rolling and realized steering trapezoid.

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6. Fig. 5. Steering trapezoid of a wheeled vehicle with a variable track: 1 — steerable bridge; 2 — swivel wheels; 3 — adjustable-length transverse steering rod; 4 — pivot levers; 5 — holes for mounting hinges; 6 — hinges; 7 — kingpins.

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