Кінематика шарнірно-зчленованого трактора 4к4 під час несталого повороту

Abstract

Goal of the study is to analyze the movement of sections of an articulated tractor at an unsteady turning (with a variable turning radius). To achieve this goal, it is necessary to fulfill the following tasks: - analytically substantiate the formation of the kinematics of the sections of an articulated tractor in relative motion; - to analyze the position of the instantaneous centers of rotation of both the tractor as a whole and its sections separately, taking into account the turning radius and confirm the results of theoretical studies experimentally. Research methods. The methodological basis of the work is the generalization and analysis of well-known scientific results on the dynamics of a tracked tractor with an articulated frame, a rational combination of theoretical and experimental research and the use of a systematic approach. The results of the study. After analyzing the results obtained, and having plotted in the same plane the theoretical and experimental dependences of the turning radii of the centers of the axles of the KhTZ-242K.20 tractor, it can be argued that the theoretical and experimental dependences of the turning radii of the centers of the tractor axles coincide quite accurately. The turning radii for the straight-line movement of the tractor, provided that the angular rate of turn is not equal to zero, are not equal to infinity. When changing from a straight-line tractor movement to a curvilinear one, the turning radii of the sections will vary widely depending on the angular speed. Conclusions. During theoretical and experimental studies, it was found that when an articulated tractor turns in relative motion, the sections move towards each other. When moving with a variable turning radius, each section moves around its instantaneous center of rotation. The position of the instantaneous centers of rotation depends on the value of the angle of rotation of the sections relative to each other, the rate of change of the angle of rotation, the speed of the portable movement of the tractor and the lateral slip angles of the axle wheels.