Bogie Wheel Research Articles

Comparative assessment of the load of undercarriage drives of frame and articulated dump trucks

The article analyzes the possibility of creating domestic samples of building articulated dump trucks with a high degree of unification with mass-produced Russian-made heavy vehicles. It is noted that, taking into account the design and layout features of articulated machines, the unification may concern, first of all, transmission units and assemblies. The method and results of a comparative assessment of kinematic mismatches in the movement of the wheels of the blocked circuits of their drive and the magnitude of the circulating moments that occur in the closed circuits of their transmissions are presented. The study confirmed the possibility of using the structural elements of the wheel drive of domestic serial heavy-duty vehicles when creating articulated vehicles of identical load capacity under the conditions of implementing a differential connection between the front axle and the rear bogie, as well as using a balancing suspension of the rear bogie wheels. Keywords: road construction, dump truck, kinematic mismatch, circulating moment, transmission load

Effect of polygonal wheel on the vehicle-track dynamic interaction in turnout and its transmission to the trailer bogie wheels

The dynamic interaction between the vehicle and track is strongly influenced by out-of-round wheels and turnout rail profile geometries, which result in high-magnitude contact forces and abnormal vibrations. This study presents the dynamic response of the tram-turnout interaction due to polygonal wheel wear and analyses its transmission between the wheelsets. A three-dimensional coupled tram-turnout dynamic model was formulated, taking into account the polygonal wear on the front bogie wheelsets. Through numerical simulations, the dynamic characteristics of a tram passing through the turnout switch and crossing panels under the influence of polygonal wear were simulated. Furthermore, the impact of polygonal wear amplitudes and tram speeds on the transmission of dynamic impact forces and vibrations from the front bogie wheelset to the trailer bogie wheels are described. According to the numerical findings, when the flexible wheelset experiences polygonal wear, it can lead to substantial impact forces and vibrations as the tram moves through the turnout switch and crossing zones. Moreover, the transmission of dynamic impact forces and vibrations from the front bogie wheelset to the trailer wheels increases as the wheel wear amplitude and the vehicle speed increase.

Initiation mechanism analysis of wheel polygonal wear on high-speed railway based on refined vibration model for ballastless track system

The wheel polygonal wear on high-speed railway exhibits constant high frequency excitation, which results in strong vibrations/noise and deteriorate railway systems. To get insight into the wheel polygonal wear mechanism, a refined vibration model of ballastless track comprising an improved fastener model and track-bed broadband modal model is proposed, and further its coupled dynamic model with the vehicle is established. The simulation scheme of wheel polygonal wear initiation and a wheel out-of-roundness growth rate index are proposed to measure the growth degree of wheel polygon at each order. The relevance between the wheel polygonal wear and wheel-rail coupled resonances is studied, and the time-varying characteristics of wheel-rail coupled vibration modes in a vehicle-discrete supporting track system are firstly clarified. On this basis, the initiation mechanism of wheel polygonal wear is revealed. The results suggest that the rail 3rd-order bending resonance between bogie wheels contribute significantly to wheel polygonal wear, which is attributed to the time-invariant modal shape of this rail 3rd-order bending vibration as well as the natural frequency consistent with the actual polygonal wear excitation. The effects of the fastener model/parameters and track-bed broadband vibrations on wheel polygonal wear are analyzed. The results show that the improved fastener model eliminates the error between the rail 3rd-bending modal frequency obtained based on the simple model and actual polygonal wear frequency. In addition, increasing the fastener damping and iron chair mass can significantly suppress wheel polygonal wear. Finally, the slight contribution of track-bed broadband vibrations to wheel polygonal wear is confirmed.

Теоретичні дослідження силової взаємодії тривісного автомобіля зі стендом з одиночними роликами

The article discusses the issues of modeling conditions for obtaining diagnostic information about complex objects. Checking the braking and traction properties of three-axle trucks on a roller stand is considered as an example. As shown by many studies, in particular, which were carried out at the Department of Technical Operation and Service of Automobiles of the KhNADU (HADI), inertial stands provide more reliable information about the technical condition of the car. Such stands allow you to reproduce the real speed and thermal conditions of the brakes. To improve the accuracy of diagnosing a car on a roller stand, it is necessary to have an idea of the nature of the interaction of the car's wheels with the rollers. The study of the rolling of the wheels of a three-axle car bogie on the stand rollers was carried out at the Department of Technical Operation of Cars, KhNADU. However, all these studies were carried out on biaxial stands, where each bogie wheel rests on a pair of rollers. In order to exclude wheel slippage, partial braking is recommended, that is, a mode when partial force on the pedals (or pressure) is created in the system and, as a result, incomplete braking force develops in the braking mechanisms (or deceleration reaches some partial value from the full one). It is necessary to analyze the possibility of implementing full brake test modes on a roller stand by improving the layout and geometrical scheme of the stand. A power model of the system of interaction between a car and a stand has been developed, taking into account the design features of the stand and the design features of the suspension of a three-axle car. The power model of this system includes the equations of equilibrium of the body and two axles, as well as the equations of motion for the rollers and wheels of the car. Based on the results of the analysis of the acting forces in the "car-stand" system, the coefficients of the use of the load q during the brake tests of a three-axle car were determined, and the longitudinal stability of the car was also analyzed. The obtained research results allowed to improve the theory of interaction of the wheels of three-axle vehicles with single rollers of the diagnostic stand.

Shrimp Robot Mechanism

The Shrimp rover is highly suitable for planetary exploration missions because of its unconventional wheel order, in-built passive adaptability and good ability to climb obstacles. It is a spatial multi-body system and a multi-variable, multi-parameter coupled non-linear system. Thus, kinematic and dynamic analyses for such systems are complex and time consuming. Long-range robotic missions for Martian exploration imply a high degree of autonomy. The most advanced locomotion concepts are based on wheels or caterpillars (e.g. Sojourner, NASA or Nanokhod, ESA). These rovers have clear advantages regarding power efficiency and complexity if compared with walking robots. However, they still have quite limited climbing abilities. Typically they can only overcome obstacle smaller than their wheel size. In this paper we present Shrimp, an innovative long range rover architecture with 6 motorized wheels. Using a rhombus configuration, the rover has a steering wheel in both, the front and the rear, and two wheels arranged on a bogie on each side. The front wheel has a spring suspension to guarantee optimal ground contact of all wheels at any time. The steering of the rover is realized by synchronizing the steering of the front and rear wheel and the speed difference of the bogie wheels. This allows for high precision maneuvers and even turning on the spot with minimum slip. The use of parallel articulations for the front wheel and the bogies enables to set a virtual centre of rotation at the level of the wheel axis while maintaining a high ground clearance. This insures maximum stability and climbing abilities even for relatively low friction coefficients between the wheel and the ground. This rover is able to passively overcome unstructured obstacles of up to two times its wheel diameter. With this high mobility, this architecture is the perfect candidate for long range planetary missions.

A method for predicting the internal motion resistance of rubber-tracked undercarriages, Pt. 2. A research on the motion resistance of road wheels

In spite of an increasing number of rubber-tracked crawlers, the literature provides few guidelines and calculation models suitable for minimizing their internal motion resistance. This article presents a model where the internal resistance of double-flanged road wheels for rubber-tracked vehicles is calculated as a sum of the losses resulting from the indentation of the wheels into the track surface and friction of the wheels against the track guide lugs. The model allows for vertical and lateral load of the wheels, the non-uniform distribution of the wheel pressure on the track, and the relationship between the friction coefficient and normal reaction force in the interface between the wheel and track guide lugs. The model has been verified by experiments. According to the results of model computations and experiments discussed in the article, the internal losses of a given rubber-tracked undercarriage might be reduced if: the road wheels are covered with a material that exhibits low friction coefficient and mechanical hysteresis, the vehicle suspension system features oscillating bogie wheels, the undercarriage is fitted with the largest possible number of road wheels, and the vehicle weight is evenly distributed to all of the road wheels.

The dynamic resonance under multiple flexible wheelset-rail interactions and its influence on rail corrugation for high-speed railway

The wheel-rail dynamic resonance (W-RDR) under multi wheelset-rail nonlinear interactions in the mid-high frequency range is still unclear regarding wheelset flexibility, wave transmissions and reflections (W-TF) among each wheel-rail interaction. To clearly elucidate W-RDR and its induced modes, a double vehicle-track coupled dynamic model of multiple flexible wheelset-rail interactions is established. The validity of the model in the mid-high frequency range is verified by comparing the simulated axlebox acceleration with the measured data. Then, the W-RDR (vertical force, friction power) is calculated and analyzed. Furthermore, the W-RDR under the single/ double/ multiple wheelset-rail interactions is compared and the rail bending modes between bogie wheels are proposed. The influence of wheelset flexibility and W-TF among each wheel-rail interaction on W-RDR are clarified. Finally, the initiation mechanism of rail corrugation is revealed based on corrugation growth rate. The results show that the wheelset flexibility has limited influence on vertical force resonances but significant contribution to friction power resonances. The W-TF between bogie wheels produce three rail local bending modes. The W-TF between wheels of adjacent bogies further intensify response peaks but do not generate new resonances. The W-RDR is mainly caused by the P2 resonance mode, the rail bending modes between bogie wheels and the wheelset bending modes. The rail 3rd-order bending, pinned-pinned resonance between bogie wheels and the wheelset 2nd antisymmetric bending resonance are key factors in corrugation initiation. Moreover, the wheel-rail resonance at the bogie leading wheelset is more prone to produce corrugation than that at the rear wheelset.

Keeping Things on Track

Laser triangulation sensors are being used to measure the lateral position of rail bogie wheels relative to the rail head in a ground-breaking rail traction technology project.

Algorithm of the automated control of displacement of the load overall center of gravity of railroad car for railway transportation

The algorithm is proposed for the automated control of displacement of the load overall center of gravity relative to transversal and/or longitudinal planes of symmetry of the car during railway transportation and decision-making about availability of commercial damages upon results of the car wheel weighting under way by the weighting equipment in cluded in the set of equipment of the systems of the automated commercial visual inspection of trains and cars. The baseline data for calculations includes results of the car wheel weighting and relative error of measurement of the loads with scale set during certification, and the car container weight accepted according to the data of the car in the Automated database of the freight car fleet of JSC “RZD”. Algorithm of the automated control of each type of displacement includes calculation of the actual displacement of the overall load center of gravity in the car, minimax assessment of the calculated value with regard to the error of determination of the parameters values used for calculation, and the conditions of decision-making about availability of commercial fault. Algorithm of static modeling of the bogie wheels loads on the rail is presented, in which the probabilities of excess of the regulatory maximum allowable value by the actual displacement are determined by the Monte Carlo method (loads of eight wheels are randomly broken out with assumption that distribution of their values is normal). Results of static modeling along with the analysis of the data from transportation documents and video image of the car with the freight allow the operator of the train and car visual commercial inspection station to make decision about necessity of the car field inspection for establishing the fact of commercial fault. Examples of calculation according to the proposed algorithm are provided for the case of control of displacement of the load overall center of gravity relative to the transversal plane of the car symmetry, including comparison with calculations without taking into account the errors. Proposed algorithm can be used in the automated train and car commercial inspection system under way during railway transportation as the element of the digital intelligent technology of commercial inspection being developed in the JSC “RZD”.

Optimization Design of EMU Process Bogie Wheel Frame Based on ANSYS

According to the saw blade for process bogie structure characteristics,the use of Pro /E 3 d software based on the 3 d model,with ANSYS software,a static and modal analysis,obtained the stress pattern,structure deformation diagram and the former 6 order natural frequency and modal shape. The analysis results show that the node the maximum equivalent stress and the maximal displacement nodes are within the scope of the provisions,the data are meet the requirements,frame structure overall stiffness is better,frame has good static characteristic and dynamic characteristic,can meet the design requirements.And on this basis to frame was further optimized,so as to save materials,reduce cost.The theoretical basis is provided for the development of the process bogie .

On the environmental performance of a high-speed train

Environmental performance is one of the major considerations of future high-speed trains. Two main issues have been closely investigated in the Green Train programme, namely (1) energy use and (2) external noise. Analysis, development and testing in the Green Train programme have focused primarily on speeds up to 250 km/h, although the energy issues have also been studied at top speeds up to 320 km/h. The energy use is estimated for both long-distance trains with few stops and for fast regional services with relatively tight underway stops. These estimations result in an energy use of 46–62 Wh per passenger-km – or 30–40 Wh per seat-km – accounted as electricity taken from the public electric power grid. Improved aerodynamic performance, efficient space utilization, electric regenerative brakes, eco-driving advice and improved energy efficiency in the propulsion system make this possible. Trackside noise has also been analysed and tested in the programme. In order to maintain the same or lower noise level at 250 km/h as at lower speeds with current trains, a number of measures are proposed. These include bogie skirts, wheel absorbers and careful aerodynamic design of the front area and of all protruding objects. In sensitive residential areas, further improvement may be achieved with rail absorbers or low trackside screens.

A Study on the Characteristics of Bogie Frame Materials

This paper describes the structural analysis, load tests and combined stress of the bogie frame. It seeks to identify the structural safety of the bogie frame when the bogie is assembled on the train and a train service is implemented. The bogie consists of the bogie frame, suspension, wheels, brakes and transmission, etc. The bogie frame can be considered as the most important part of the bogie. The analysis and tests were evaluated using JIS E 4207 standards and performance test standards for urban rail vehicles.

A Study on Co-Simulation for Rotating Mechanism of Bogie Separation Device Based on ADAMS/MATLAB

In the process of bogie separation device operations, rotating system is required to push bogie and settlement beam to rotate . After the completion of bogie wheel replacement and maintenance, they need to be pushed back to original position. This paper explains working principle of rotating mechanism of monorail vehicle bogie separation device and performs co-simulation and analysis of rotating mechanism based on ADAMS/MATLAB. Analysis results show that the rotating hinge mechanism and its proportional control system can completely meet the requirements of the rotary motion.

Mechanical Design and Analysis of All-terrain Mobile Robot

This paper presents the conceptual mechanical analysis of the all-terrain mobile robot (AMoBo). The locomotion concept for all-terrain mobile robot is based on six independent motorized wheels. The mobile robot has a steering wheel in the front and the rear, and two wheels arranged on a bogie on each side. The front wheel has a spring suspension to guarantee optimal ground contact of all wheels at any time. The steering of the vehicle is realized by synchronizing the steering of the front and rear wheels and the speed difference of the bogie wheels. A prototype AMoBo was designed and fabricated. The developed prototype is about 66 cm in length and 23 cm in height. Testing size results show that the prototype able to overcome obstacles of same height as its wheel diameter and can climb stairs with step height of over 10 cm. Finite element analysis was used to analyse and verify the strength of each critical part of AMoBo. The base plate appeared to be the critical part with the highest shear stress and the lowest safety factor. Kertas kerja ini membincangkan analisis mekanikal bagi robot mobil semua medan (AMoBo). Konsep gerak alih untuk robot mobil semua medan adalah berdasarkan kepada enam roda yang bermotor. Kenderaan tersebut mempunyai roda kemudi di bahagian hadapan dan belakang, dan dua roda yang diaturkan sebagai bogi di kedua-dua belah. Roda hadapan mempunyai suspensi pegas untuk memastikan sentuhan permukaan yang optimal di setiap roda pada sebarang masa. Kemudi kenderaan diselaraskan dengan kemudi hadapan dan belakang dan juga perbezaan kelajuan pada roda bogie. Prototaip telah direka bentuk dan dihasilkan. Kenderaan yang dibangunakan berukuran sekitar 66 cm panjang dan 23 cm tinggi. Keputusan saiz ujian menunjukkan bahawa ia berupaya mengatasi halangan yang mempunyai ketinggian yang sama dengan diameter rodanya dan mampu memanjat tangga yang mempunyai ketinggian yang melebihi 10 cm. Analisis elemen terhingga telah digunakan untuk menganalisis dan mengesahkan kekuatan setiap bahagian yang kritikal pada AMoBo. Pinggan dasar adalah bahagian kritikal yang mempunyai tegangan ricih yang paling tinggi dan nilai faktor keselamatan yang paling rendah.

Stress-deformation-temperature behavior of a rolling segmented constrained layer damped bogie wheel

Stress-deformation-temperature characteristic of a segmented constrained layer damped (SCLD) bogie wheel used in crawler construction vehicles is analyzed in this paper. The SCLD bogie wheel mainly consists of three layers, namely the base, constrained and viscoelastic layer. The rubber in the viscoelastic layer is considered to be isotropic, incompressible and hyper-elastic, and its mechanical properties are assumed not to be dependent on temperature. Some important characteristics of the rolling SCLD bogie wheel are obtained based on the FE computation and analysis, such as the maximum stress and strain, the heat easily accumulated region, and so on. Suggestions for improving the performance of SCLD bogie wheel are put forward. The rationality of the simplified FE model is verified through the corresponding deformation test. At the same time, the related measurements are performed in order to obtain the performance of the SCLD bogie wheel. The research result is available to the further development of bogie wheel for crawler construction vehicles.

Segmented Constraining Layer Damping Treatments for Bogie Wheel

A new type of composite bogie wheel is introduced in this paper. To understand its mechanical characteristics, a crawler bulldozer, operated under different working conditions, was taken as an application example, and a numerical model of the new composite bogie wheel has been established and analyzed. The analysis result shows that the new composite bogie wheel can meet the strength requirement. To verify finite-element (FE) result, an electro-hydraulic servo and program-controlled testing machine were used to measure the deformation of the bogie wheel specimen. The obtained experimental result indicates a good agreement with result from FE analysis. Finally, a contrast experiment was conducted in a practical crawler bulldozer, and the result shows that reductions of the vibration level may reach 5 dB to more than 9dB by the use of the new composite bogie wheel. The result in this article is helpful to the further development of high-performance bogie wheels used in crawler construction vehicles.

Active bogies and chassis levelling for a vehicle operating in rough terrain

Four axle vehicles with bogies can adapt the position of the wheels to follow irregularities in the terrain, having an obstacle surpassing ability far greater than conventional 2-axle vehicles. Still, the ability to overcome discrete obstacles on a steep slope is very different depending on the wheel that is facing the obstacle. A possible solution to diminish this variation can be found if the vehicle is able to actively redistribute the load on each wheel. One strategy is to design the suspension mechanism so it can regulate its height, being able to level the chassis. Also, an active torque on the pin join between the bogie and the chassis can be applied with the same goal, adopting a system of active bogies. Both solutions have been parametrically studied in a bi-dimensional multibody model of a 4-axle vehicle with double bogies. The results show an improvement independent of obstacle position and terrain angle when using active bogies. With height regulation, this improvement is limited to the rear bogie wheels, but the obstacle surmounting capacity of the vehicle as a whole can be considerably increased if the optimal regulation point is found. Possible applications for such enhanced vehicles with bogies are performing different tasks in forest areas with obstacles on steep slopes or unstructured terrain exploration.

A piezoelectric tracked vehicle with potential application to planetary exploration

A piezoelectric driving method for rover vehicles is proposed in this paper. Employing this method, a tracked vehicle driven by friction forces from a frame mounted with piezoelectric elements was developed. The vehicle is designed with no driver sprocket, no idler-wheel and no supporting bogie wheels, and the vehicle thus requires no lubrication and has potential application in planetary exploration. The frame consists of a pair of piezoelectric transducers. Each transducer comprises four annular parts jointed by beams adhered with piezoelectric ceramics. The tracks are set to the outer surface of the annular parts by means of track tension. Traveling rotating waves are generated by piezoelectric transducers in the annular parts, which generate microscopic elliptical motions at the interface of the tracks. The microscopic elliptical motions from the piezoelectric transducers drive the track vehicle to move. Finite elements analysis was carried out to verify the operation principle using commercial software ANSYS. Piezoelectric transducers were fabricated, assembled and tested to validate the concepts of the proposed rover vehicle and confirm the simulation results. A prototype vehicle with mass of 0.57 kg moves at a speed of 4.3 mm/s at a driving voltage of 250 V and operating frequency of 65.53 kHz.

The Construction and Property Analysis of Bogie Wheel with Damping Structure

This paper introduces a new-type bogie wheel and its properties, i.e., bogie wheel with tubular spaced-damping, which has vibration-reducing buffering functions. The mechanic model of bogie wheel based on crawler bulldozer of some type was built. Matlab software was used to simulate such bogie wheel. The results show that bogie wheel with spaced-damping can effectively buffer the vibration on such bulldozer under different load cases.

Research of Error Compensation Methods and Equipment for Bogie Wheel Alignment Parameters in Horizontal Plane

Research of Error Compensation Methods and Equipment for Bogie Wheel Alignment Parameters in Horizontal Plane