Wheeled Chassis Research Articles

Результаты научных исследований Брянского государственного университета в 2023 году в сфере развития канатных технологий для различных отраслей экономики

The article presents the results of research activities in 2023 by scientists of the Academician I.G. Petrovskii Bryansk State University in the field of developing promising domestic designs of single-span mobile ropeways of various designs — based on autonomous self-propelled wheeled chassis with high load capacity and cross-country ability and based on modular airmobile units. The results of the creation of scientifically based methods for their design and computer modeling of operational processes are also presented. The article describes the results of the creation of a theory of design and modeling of work processes for harvesters equipped with rope anchoring equipment for logging operations when working on steep slopes in highly rugged or mountainous terrain.

Research on Running Performance Optimization of Four-Wheel-Driving Ackerman Chassis by the Combining Method of Quantitative Experiment with Dynamic Simulation

The wheeled chassis, which is the carrying device of the existing handling robot, is mostly only suitable for flat indoor environments and does not have the ability to work on outdoor rugged terrain, greatly limiting the development of chassis driven handling robots. On this basis, this paper innovatively designs a four-wheel-driving Ackerman chassis with strong vibration absorption and obstacle surmounting capabilities and conducts performance research and optimization on it through quantitative experiments and dynamic simulation. Firstly, based on the introduction of the working principle and structure of the four-wheel-driving Ackerman carrier chassis, a multi-sensor distributed dynamic performance test system is constructed through the analysis of the chassis performance evaluation index. Then, according to the quantitative operation experiment of the chassis, the vibration and acceleration characteristics of the chassis at different positions of the chassis, the amount of slip and straightness of the chassis under different running distance, and the operating characteristics of the chassis under different road conditions and different damping springs conditions were analyzed respectively, which verified the rationality of the chassis design. Finally, by constructing the chassis dynamics simulation model; the influence law of chassis structure; and performance parameters such as chassis wheelbase, guide rod structure, and parameters, wheel friction coefficient and assembly error on the dynamic characteristics of the chassis is studied, and the optimal structure of the four-wheel-driving Ackerman chassis is determined while it is verified based on the simulation results. The research shows that the four-wheel-driving Ackerman chassis has good vibration performance and stability and has strong adaptability to different roads. After optimization, the vibration performance, stability, amount of slip, and straightness of the chassis structure are significantly improved, and the straightness is reduced to 0.399%, which is suitable for precise carriage applications on the chassis. The research has important guiding significance for promoting the development and application of wheeled chassis.

Анализ технико-организационных возможностей специальных колесных шасси для развертывания мобильных канатных дорог на базе аэромобильных канатных установок

Mobile ropeways based on airmobile rope units are a new constructive type of cargo and cargo-passenger ropeways for the rapid deployment of transport and overloading activities in hard-to-reach areas and high-altitude territories. The article analyzes the technical and organizational capabilities of the method of ground delivery of the necessary main and auxiliary technological equipment to the place of loading on air transport using special wheeled chassis of increased load capacity and cross-country capability. Based on the example of Russian-made multi-axle all-terrain vehicles and based on the analysis of their technical characteristics, recommendations for their use are made based on the required overall dimensions and weight of airmobile rope units. Based on the principle of ensuring the universality of the overall dimensions of airmobile rope units in transport condition for combined transportation by various modern types of ground, air and water transport, the possibilities of using road transport for the transportation of airmobile rope units, the overall dimensions of which correspond to the dimensions of universal and aviation transport containers, are considered.

Mechanics and controllability of unmanned ground robotic complexes in difficult terrain conditions

The main kinematic schemes of the wheel drives of ground robotic complexes of high passability are proposed. The obtained dependences of the geometric and dynamic parameters of the chassis on the parameters of the obstacles and the conditions for overcoming them. Dynamic models of wheeled chassis are shown for preliminary calculation when choosing the main elements of the ground robotic complex. For the first time, the parameters of the cross-sectional surface profile, the nature of the wheels' adhesion to the surface, and the engine torque to overcome the obstacle and ensure the controllability of the system were evaluated. It is shown that available forms of the surface profile for the movement of the chassis with appropriate wheel drives can be surfaces with protrusions and depressions, with extraneous objects - rubble, inclined planes, steps and staircases.

APPROACHES TO THE DEVELOPMENT OF A LIGHT FIRE MODULE ROCKET LAUNCHERS SYSTEM ON WHEELED (TRACKED) CHASSIS

Today, in the conditions of russia's open armed aggression against Ukraine and the intense multi-faceted struggle against it - armed, informational, economic, the Armed Forces of Ukraine have to create combat-ready groups of troops (forces) that must be able to ensure the fulfillment of the tasks assigned to them at a given level. Based on the experience of conducting hostilities starting from February 24, 2022, it becomes clear that one of the important components of the effective conduct of hostilities by troops (forces) is the timely and reasonable use of missile forces and artillery.
 One of the common effective and promising fire means of the field artillery of the ground forces is the reactive system of volley fire. Shelling from such systems not only destroys manpower and equipment, but also creates a powerful psychological impact on the enemy's personnel. So, despite the appearance of new modern means of destruction, rocket launcher systems will continue to play the role of a strong argument on the battlefield for a long time, and designers will continue to work on their further improvement.
 Today, systems of volley fire represent combat platforms that are widely used by the Ground Forces in conducting all forms and types of combat operations. Development of new, improvement of existing systems of volley fire, improvement of their combat effectiveness is an important scientific and technical task.
 The most important advantages of reactive systems of volley fire are the surprise of the attack and the high density of fire, which is carried out in a very short time on site targets with a high degree of damage, both offensively and defensively, in any weather, both day and night.
 In a number of modern local conflicts, aviation units for unguided air missiles of the S-5 and S-8 types installed on various self-propelled chassis were used as improvised systems of volley fire.
 But the lack of developed special sights and sufficient stabilization of unguided aircraft missiles during launch gives low accuracy. Therefore, the issue of increasing the accuracy and efficiency of the use of unguided air missiles from a wheeled (tracked) chassis requires further development.
 The article substantiates the need to create a light fire module for the use of unguided aircraft missiles from wheeled (tracked) chassis instead of using standard aviation units of unguided missile weapons, proposed solutions to improve the accuracy and efficiency of application.

Силовой расчет механизма канатной фиксации концевой опоры мобильного транспортно-перегрузочного канатного комплекса

Mobile transport and reloading rope units based on special self-propelled wheeled chassis with increased load capacity and cross-country capability are currently a promising type of rope transport technologies for logistics operations in difficult natural conditions, if necessary, their rapid deployment. However, the issues of designing and analyzing the work processes occurring in the main technological equipment of these units during the operation of single-span mobile ropeways of the pendulum type have not yet been sufficiently investigated. This article presents a mathematical model designed to perform a force calculation of the mechanism of rope fixation of the end tower during the opera-tion of a mobile transport and reloading rope unit. The model makes it possible to determine the magnitude of the force in the holding rope and the support reactions in the attachment points of the end tower and the rope winch, depending on the design dimensions of the mechanism and the tower, the operational load from the carrying-traction rope system of the mobile ropeway, the spatial orientation of the rope pulley and other parameters. The analysis of the obtained quantitative results of the test force calculation of the rope fixation mechanism of the end tower is also presented and appropriate recommendations are formulated.

Результаты научных исследований Брянского государственного университета в 2022 году в сфере создания мобильных канатных дорог и лесных канатных машин на базе самоходных колесных шасси

The results of the research activity of scientists of the Academician I.G. Petrovskii Bryansk State University in the field of developing promising domestic designs of mobile aerial rope systems of various functional purposes — mobile ropeways based on self-propelled wheeled chassis of high load capacity and cross-country ability, airmobile cable cars based on container and frame rope installations transported by air transport, forest rope units for logging. The description of the developed mathematical models and methods of modeling work processes during the operation of the specified rope equipment, including the creation of digital twins, traction calculation, analysis of dynamic processes, maintenance planning, etc. is given.

Multi-Section Chassis for Extreme Terrain

One of the options for the layout of the adaptive chassis of a wheeled vehicle is a multi-section system in which the sections are connected by means of hinges. The article considers an approach to building a methodology for computer-aided design of a family of mobile wheeled chassis of various weight categories and economic purposes. The principles of unification of the design of original units and the choice of supplied components are proposed. The main directions of the application of technology and the use of advanced machines are analyzed. Industry technologies are indicated that allow to reduce the cost of serial production of products.

Design of a container grabbing and lifting mechanism for equipping a robotic wheeled chassis

This article presents the results of designing a mechanism for grabbing, lifting and holding a container with which it is supposed to equip a robotic wheeled chassis with an apple harvesting module in an industrial garden. The technical solutions used in agricultural engineering for lifting and holding operations of various types of loads weighing from 300 kg were analyzed, their design and technical features were considered. As a result of the analysis, based on the criteria of compactness and metal consumption, the most preferred variant of the lifting mechanism was selected - a parallelogram lifting mechanism driven by electric cylinders. In order to fulfill the conditions of structural strength of the mechanism for gripping and lifting the container, a strength calculation of the structure was carried out, and also the necessary characteristics of the electric cylinder for the mechanism for lifting the container and the paws for the mechanism for lifting the paws were determined. The main load in the structure is carried by the upper horizontal guides, vertical racks and lower grips. As a result of the analysis, zones of maximum stress and strain concentration were established. The loading of the lower gripper parts occurs with a force directed vertically downward with a force of 1750 H. The highest voltage was about 169 MPa, which ensures sufficient strength of the part with a margin of 3 times, the maximum movements of the guides are 1.6 mm.

3D МОДЕЛЮВАННЯ ПРОЦЕСУ МАНЕВРУВАННЯ ЧОТИРИВІСНОГО КОЛІСНОГО ШАСІ З ДВОМА ПОВОРОТНИМИ ПЛАТФОРМАМИ

One of the ways to increase the maneuverability of the wheeled vehicles of the National Guard of Ukraine is to use a four-axle wheeled chassis with two turntables, which will allow the machine to turn with the smallest radius, move crab, sideways and turn around its own vertical axis. The creation of such a chassis is associated with a large amount of various experiments and tests of the finished sample. The development of computer technology and technologies has led to the creation of software applications for computer (simulation) modeling, which allow research and study of the properties of technical objects and systems under different conditions. The article developed a digital model of the chassis of a four-axle machine with two turntables and identified its features. For modeling, a powerful package of solid modeling Autodesk Inventor was chosen, which provides a comprehensive flexible set of tools for 3D design, visualization, instrumentation, analysis and calculations. When building a general 3D model of the chassis, the main features of the layout of parts and assemblies of this wheeled vehicle were taken into account. The forced rotation of the wheels and the rotation of the platforms were modeled by entering the value of a single parameter or setting using a graph. Depending on the needs of the experiment, graphs were set for displacements, speed or acceleration. In the course of a visual experiment, a simulation of the maneuvering of a four-axle vehicle was carried out for three options: turning the chassis to move in the opposite direction; changing the direction of movement through the turn of the chassis is a difficult maneuver; turning the chassis for sideways movement. The analysis of virtual studies showed that the control of the front, rear or both turntables is a promising way to increase the maneuverability of wheeled vehicles. In addition, the created computer prototype allows you to determine the main characteristics of the future product, carry out analysis, upgrade and necessary modification, set the desired trajectory of movement, including when passing through obstacles.

Анализ работы устройства для установки выносных опор самоходных шасси мобильных транспортно-перегрузочных канатных комплексов

Single-span mobile ropeways of the pendulum type, formed with the help of two mobile transport and reloading rope complexes connected by a single rope system on the basis of self-propelled wheeled chassis of high cross-country ability and carrying capacity, are currently considered as a promising type of transporting equipment for solving many tasks in adverse natural and social situations. The article is devoted to an important technical task of ensuring the safe operation of rope complexes associated with the loss of overall stability and overturning of the wheeled chassis under conditions of significant operational loads from the tension of the rope system, creating an overturning moment. The original design of the device for the installation of outriggers is presented in detail, providing automated execution of the necessary technological work. The developed method of designing this device is based on the analysis of the kinematics of the movable structural elements of the device, which allowed us to establish the calculated dependencies for determining the main structural dimensions. The considered design and design methodology can be used in the creation of transport and technological machines of other functional purposes, during the operation of which situations of loss of overall stability and overturning are possible.

Производительность грузовых мобильных канатных дорог на базе сопряженных мобильных транспортно-перегрузочных канатных комплексов

Single-span mobile pendulum-type ropeways formed by two coupled self-propelled wheeled chassis of high load capacity and cross-country capability are a promising type of transport and reloading equipment under difficult operating conditions. This article discusses the problem of assessing the weight productivity of such mobile ropeways under various technological options and modes of their operation. A computational method for determining the productivity within the area of the possible use of mobile ropeways is presented, characterized by the magnitude of the span and the angle of inclination of the line of the carrying-traction rope between the terminal points of the route, as well as the weight of the transported cargo. It is shown that the weight productivity significantly depends on the duration of loading and reloading operations and therefore is a variable characteristic of a mobile ropeway, depending on the specific operating conditions (used lifting and rigging equipment, the qualifications of the service personnel, the weight and configuration of the transported cargo, the availability of storage sites, etc.).

Research on Location Estimation for Coal Tunnel Vehicle Based on Ultra-Wide Band Equipment

Because the road surfaces of the underground roadways in coal mines are slippery, uneven, with dust and water mist, and the noise and light illumination effects are significant, global positioning system (GPS) signals cannot be received, which seriously affects the ability of the odometer, optical camera and ultrasonic camera to collect data. Therefore, the underground positioning of coal mines is a difficult issue that restricts the intellectualization of underground transportation, especially for automatic robots and automatic driving vehicles. Ultra-wide band (UWB) positioning technology has low power consumption, high performance and good positioning effects in non-visual environments. It is widely used in coal mine underground equipment positioning and information transmission. In view of the above problems, this research uses the WLR-5A mining unmanned wheeled chassis experimental platform; uses two UWB receivers to infer the position and yaw information of the vehicle in the underground roadway through the method of differential mapping; and tests the vehicle on the double shift line and quarter turn line in the GAZEBO simulation environment and on the ground simulation roadway to simulate the vehicle meeting conditions and quarter turning conditions in the underground roadway. The positioning ability of the method in these two cases is tested. The simulation and test results show that the vehicle position and attitude information deduced by two UWB receivers through the differential mapping method can basically meet the requirements of underground environments when the vehicle is traveling at low speeds.

Моделирование работы гидропривода механизма установки концевой опоры на самоходном шасси мобильной канатной дороги

Single-span ropeways based on autonomous self-propelled wheeled chassis of high load capacity and cross-country capability are a promising type of mobile transport and overloading equipment for the rapid creation of logistics infrastructure for the sustainable development of hard-to-reach areas with complex natural terrain. They can also be effectively used for rapid deployment during transport operations in the foci of natural or man-made disasters. This article presents a mathematical model of the operation of a hydraulic drive with throttle control with sequential activation of adjustable throttles and a power hydraulic cylinder in relation to the mechanism of installing the end tower on the load-bearing frame of a self-propelled wheeled chassis of a mobile ropeway. The model includes a submodel of kinematic and force analysis of the end tower installation mechanism and a submodel of hydrodynamic analysis of working processes in the volumetric pumping hydraulic drive of this mechanism. The established calculated dependences make it possible to simulate the change during the time of installation of the end tower from the transport position to the working position of the basic quantitative parameters, including the speeds and accelerations of movement of the end tower and the rod of the lifting hydraulic cylinder, pressures and volumetric flow rates of the working fluid at characteristic points of the hydraulic system.

Результаты научных исследований Брянского государственного университета в 2021 году в сфере проектирования и моделирования рабочих процессов в мобильных транспортно-перегрузочных канатных комплексах

The results of scientific research activities of scientists of the Academician I.G. Petrovskii Bryansk State University in the development of promising domestic samples of designs of mobile transport and reloading rope systems and ropeways based on self-propelled wheeled chassis of high carrying capacity and cross-country ability and the creation of scientifically substantiated methods for their design and computer simulation of work processes during operation. The description and analysis of the effectiveness of new technical solutions of mobile passenger and cargo aerial ropeways are given.

Общий подход к созданию цифровых двойников мобильных канатных дорог на основе мобильных транспортно-перегрузочных канатных комплексов

The article considers the conceptual approach and practical aspects of creating digital twins of mobile ropeways formed by two end mobile transport and reloading rope units based on self-propelled multi-axle wheeled chassis of high load capacity and cross-country ability. The approach is based on a systematic representation and analysis of the design and operating modes of a mobile ropeway. As a consequence, the digital twin is formed as a multilevel hierarchical structure. It combines information mathematical models of various functional purposes and varying degrees of mutual connectivity, which are distributed by levels depending on the degree of complexity and the possibility of their further aggregation into information mathematical models of a higher level. In relation to a typical mobile ropeway, a structural and functional analysis was carried out, on the basis of which its basic components were established, and calculated structural elements (technical devices and systems) were determined, requiring the development of the necessary individual information mathematical models. Approaches to aggregation of several individual models of computational elements connected by common characteristic quantitative parameters of modeling into group information mathematical models, and then into mode and complete information mathematical models of structural and functional components of a mobile ropeway are considered. The system approach considered in the article and the multilevel hierarchical structure of the digital twin developed on its basis are useful and effective from the point of view of ensuring the modularity of creating a digital twin, its modification for mobile ropeways of a different design, the possibility of using previously developed information mathematical models for similar computational structural elements.

Структурный анализ тормозной рычажной передачи тележки грузового вагона с отводящими устройствами с учётом кромочного контакта колодки и колеса

The article deals with the issues of modeling the stress-strain state of the attachment points of the cab of a wheeled chassis of high load capacity. The main design loads are determined. Geometric and computational finite element models are constructed, taking into account the features of the metal structure. The technique of gluing elements of the grid model is applied. The contact interaction of the parts is taken into account. Based on the calculations performed, conclusions are drawn about the compliance of the developed structure with the strength requirements.

Оценка прочности элементов крепления кабины колесного шасси высокой грузоподъемности

The article deals with the issues of modeling the stress-strain state of the attachment points of the cab of a wheeled chassis of high load capacity. The main design loads are determined. Geometric and computational finite element models are constructed, taking into account the features of the metal structure. The technique of gluing elements of the grid model is applied. The contact interaction of the parts is taken into account. Based on the calculations performed, conclusions are drawn about the compliance of the developed structure with the strength requirements.

Варианты компоновки основного технологического оборудования на базовых шасси мобильных транспортно-перегрузочных канатных комплексов и их сравнительный анализ

Mobile ropeways formed by mobile transport and reloading rope complexes (terminal stations) on the basis of self-propelled wheeled chassis of high load capacity and cross-country ability are a promising type of transporting equipment for use in many branches of industrial production and maintenance – construction and mining industry, forestry and agriculture, elimination of the consequences of natural and man-made disasters, etc. The article develops a classification of self-propelled terminal stations based on such features as the location of the key element of the main technological equipment — the end tower of the rope system — on a wheeled chassis and the type of its fixation in the working position during the operation of the mobile ropeway. As promising variants of the structural design of mobile transport and technological rope complexes, options with an end, central and remote arrangement of the end tower; with hydraulic, rope, rope-hydraulic and rod types of fixing the end tower in the working position; with the installation of the end tower in the working position directly by a lifting hydraulic cylinder, using a folding rod and two-stage lifting are proposed. A brief description of the designs and the principle of operation of a large number of modifications of self-propelled terminal stations of various listed variants of the structural design of mobile rope complexes is given when preparing them for operation and during operation itself. A comparative analysis of the considered variants of mobile rope complexes is carried out on the basis of taking into account their main design and technical and economic characteristics, which made it possible to formulate both advantages and disadvantages of different design options.

Уточнение характеристик аэродинамического сопротивления движению специальных колесных шасси и тягачей на основе применения методов вычислительной газодинамики

An accurate assessment of the characteristics of the aerodynamic resistance to movement is important for the preliminary selection of the parameters of the engine, transmission and chassis of a special wheeled chassis or tractor. The strength of the movement resistance affects the dynamic characteristics of the car. The existing calculation methods allow for a wide variation of the aerodynamic drag coefficient, which complicates the task of preliminary selection of car parameters. The purpose of this article is to clarify and develop the engineering methodology for carrying out traction-dynamic calculations of special wheeled vehicles and tractors based on the results of computer modeling performed using computational fluid and gas dynamics (CFD modeling) methods. The modeling methodology and calculation results of a special wheeled chassis manufactured by JSC «BAZ» are considered.