Graphical method for determining the trajectory curvilinear motion of the four-wheel tractor with front steerable wheels

Abstract

In this article the graphical method for constructing trajectory wheeled tractor considered. The curvilinear motion MTU is significantly different from its rectilinear motion. Typically, kinematic and dynamic work environment in the curvilinear motion is much more complicated, requiring additional study of many factors that affect the handling, stability and reliability of the machine. Despite the complexity of the process, research conditions curvilinear motion machine and tractor units is relevant and is of practical importance. After all, when forecasting future costs of fuel and lubricants important to know exactly how far during certain operations need to be overcome tractor. It is known that about 10 - 40% of the trajectory of the MTU make turns and reversals. In the academic literature described technological schemes units’ turns on different areas of the field. There are also attempts to construct the trajectory of curvilinear motion graphical-analytical method. The authors of this article offer a graphical method for constructing the entrance trajectory to turn and exit the turn on the MTU example of tractor MTZ-82. The case traffic tractor unit at a constant average value of the rotation angle of the steering wheels and the corresponding value of the angle between the velocity vector center of the tractor gravity and the axis moving coordinate system without taking into account the impact angles of driving wheels, which are caused by the influence of lateral forces that occur during a curvilinear motion. Thus, the article has a very important theoretical and practical significance.