Mathematical description of deviation mechanisms positions of track chassis in motion with variable ground resistance

Abstract

Engineering methods for designing tracked mechanisms for moving mobile chassis of hoisting and transport, construction, road and other specialized machines are based on constant values of the coefficients of resistance to ground movement when choosing engine power and track parameters. In reality, the ground is not homogeneous, and the coefficient of resistance to movement at each moment in time is a random variable located in a certain interval depending on the type of ground. This article proposes a mathematical description of the process of joint movement of two tracked circuits within the same chassis with uneven ground resistance over time, which is reflected in the speed of movement of each circuit and leads to the effect of running tracks, which contributes to the occurrence of instantaneous turning moments. Depending on the type of selected law of change in the coefficient of resistance to ground movement over time, the results of decompensation of uneven movement of the tracks are shown, independent of the additional resistance arising from the lateral cut of the ground layer during instantaneous rotations of the chassis, characteristic of mechanisms with a separate drive of each track circuit.

Keywords

• tracked chassis
• traction calculation
• movement resistance
• ground