Abstract
The results of the investigation of the turning kinematics of the steerable wheels of the KrAZ-7634NE off-road vehicle with a wheel formula 8x8 and two front steer axles are given. The theoretical relations between the steer angles of the steerable wheels on the basis of the scheme of double-axle steering turning of the vehicle are shown. The mathematical model of flat four-bar vehicle steering linkage is developed, it determines the relation between the steering linkage left and right steering arms turning angles at any turning radius of the vehicle. KrAZ-7634HE steering three-dimensional model was created and simulation technique of its work was carried out using Creo software. It has been shown that the flat steering linkage model provides sufficient accuracy of calculations in analysis of turning kinematics. The design data can be used for any vehicles that have a similar steering linkage, they allow to analyze the impact of the vehicle design parameters on the turning kinematics and optimize them. Further study of the impact of the kingpin inclinations on the steering linkage kinematic and power characteristics are required.
Highlights
During the curvilinear motion all the wheels of the vehicle roll towards a single instantaneous turning center
The real spatial linkage is replaced by a flat model; - it is not clear which of the kingpin rut sizes to take in the calculations; - the influence of kingpin inclination on the calculation accuracy is uncertain; - there are no comprehensive recommendations concerning the choice of steering linkage parameters that would provide satisfactory kinematics; - the three-dimensional modeling method lets reduce the time and cost of designing and optimizing the various mechanisms parameters
The turning kinematics of steerable wheels, which is covered by a steering linkage, is usually estimated using the graphs of the dependence of the steer angle of the outer wheel on the steer angle of the inner wheel [5,6,7,8, 10]
Summary
During the curvilinear motion all the wheels of the vehicle roll towards a single instantaneous turning center. In [5], analytical dependencies were proposed for determining the actual steer angles of steerable wheels of a tractor with given parameters of the steering linkage and the optimal article [12]. In work [13] the results of theoretical studies, which allow analyze the strain rate that arises in details during their deformation, determine the complex of design and technological parameters during profiling and drawing-out operations. This makes the design more robust and safe, which is vitally important for steering system. The real spatial linkage is replaced by a flat model; - it is not clear which of the kingpin rut sizes to take in the calculations; - the influence of kingpin inclination on the calculation accuracy is uncertain; - there are no comprehensive recommendations concerning the choice of steering linkage parameters that would provide satisfactory kinematics; - the three-dimensional modeling method lets reduce the time and cost of designing and optimizing the various mechanisms parameters
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