СУЧАСНІ ТЕХНОЛОГІЇ В МАШИНОБУДУВАННІ ТА ТРАНСПОРТІ
Наведено результати дослідження коефіцієнта опору кочення еластичного колеса під час прямолінійно... more Наведено результати дослідження коефіцієнта опору кочення еластичного колеса під час прямолінійного руху по недеформованій опорній поверхні. Розглядаючи еластичне колесо як складний цілісний механізм, проаналізовано сили та моменти, які діють на колесо під час подолання опору коченню для двох випадків: колесо ведене та колесо ведуче. Установлено, що опір коченню веденого еластичного колеса долається активною силою штовхання, яка прикладена до осі колеса від остова автомобіля та напрямлена за вектором руху колеса. Вона врівноважується реакцією опорної поверхні, яка рівна їй за величиною та протилежна за напрямком. Реакція опорної поверхні та сила штовхання створюють момент відносно осі колеса, рівний за абсолютною величиною моменту опору коченню. Кочення ведучого колеса забезпечується прикладеним від трансмісії автомобіля до жорсткого диска колеса крутним моментом, який викликає в контакті шини з опорною поверхнею активну силу, напрямлену протилежно вектору швидкості руху колеса. Ця ...
IOP Conference Series: Materials Science and Engineering, 2020
The “wing nut” is a widespread transport and ship fixture designed to locking of hatches, covers ... more The “wing nut” is a widespread transport and ship fixture designed to locking of hatches, covers and portholes. A more advanced closed die forging for the “wing nut” forgings of transport fittings was proposed with preforming by new method of bulk buckling of billet with upsetting ratio (height to diameter ratio) of 4.2...4.4. The billet and process calculation were performed based on results of researched and a new die forging was tested on a screw friction press. The results of experimental studies conducted on model lead billets at room temperature, and steel billets heated to 1180 °C, confirmed the increase in the accuracy rate of the billet material utilization ratio (one forging mass to one billet mass ratio) from 0.519 to 0.734 and metal savings up to 41% in comparison with the basic die forging without preforming of billet. It is shown that the introduction of a preforming by bulk buckling operation improves the forgings macrostructure (grainflow) even for cases the initial ...
IOP Conference Series: Materials Science and Engineering, 2020
Steel hollow sections are common for transport engineering, vehicles, highway guardrails. The spe... more Steel hollow sections are common for transport engineering, vehicles, highway guardrails. The special requirements for strength and stiffness are determined by tests. The three-point bending test experimental and FEM research were carried out on steel rectangular hollow sections (RHS) with a cross section of 40 mm × 50 mm, manufactured in two ways: (a) by cold bending of steel strips on roll-forming mill in semi-closed section with a longitudinal gap of 0.5 mm between the edges formed on a 40 mm web (B-RHS); (b) similar cold roll-forming to the closed section and welding with a longitudinal weld along the web middle of 50 mm (BW-RHS). As a result, the graphs and analytical equations for relating the force (P) and deflection (f) at load on 50 mm and 40 mm webs were obtained, and revealed the advantages of bent-welded sections (BW-RHS) by stiffness and strength. FEM was performed using the SolidWorks CAD/CAE system for various RHS wall thicknesses (t = 1.93 mm, 1.84 mm and 0.7 mm). It...
IOP Conference Series: Materials Science and Engineering, 2020
List of the most used functions (circle, parabola, ellipse, hyperbola, cosine, hyperbolic cosine)... more List of the most used functions (circle, parabola, ellipse, hyperbola, cosine, hyperbolic cosine), which are applied to approximate of billets contours at upsetting and pointed to the lack of a universal equation for these purposes, was analyzed. The advantages and disadvantages of each type of equations are pointed. The paper presents the results of upsetting of lead cylindrical specimens with a upsetting ratio 2.0-4.0. The experiment shows the stages of a “double barrel” forming on the lateral surface of a billet and its subsequent transition to a single one. The authors propose to use the “superformula” recently invented by Johan Gielis as a universal equation that allows to approximate the contour of the lateral surface of a billet at all stages of upsetting. The paper presents comparative initial data necessaries to determine upsetting force and pressure, taking into account the barrel-shape calculated by the superformula, and the coefficient of friction determined by Gubkin’s ...
Постановка проблеми Прикладені до вхідної ланки еластичного колеса, якою є жорсткий диск, крутний... more Постановка проблеми Прикладені до вхідної ланки еластичного колеса, якою є жорсткий диск, крутний момент від трансмісії, гальмівний момент від гальмівного механізму, сила штовхання від остова, момент від кермового керування, бічна сила, зумовлена вітром, нахилом опорної поверхні та інерційними
Central Ukrainian Scientific Bulletin. Technical Sciences
The problem of determining the optimal number and location of charging stations for electric tran... more The problem of determining the optimal number and location of charging stations for electric transport within the settlement is being studied. To solve this problem, the criteria, factors and limitations of the optimal placement of charging stations were defined. Since the task included ensuring the comfortable operation of electric cars by citizens until 2025, it was necessary to forecast the number of electric cars that will be registered in the town of Cherkasy. For this, a portrait of the potential consumer was drawn up, and the potential capacity of the transport market was determined. Also, the key points of concentration of potential customers were determined, the level of charging stations for electric vehicles that will ensure their operation in the town of Cherkasy was selected, and the calculation of the optimal number of charging stations for the South-Western district of Cherkasy was performed. Since there are no regulations regarding the required number of charging sta...
The value of the motion resistance is one of the important characteristics that determines the te... more The value of the motion resistance is one of the important characteristics that determines the technical and operational properties of the vehicle, in particular its fuel economy under operating conditions. This article summarizes the approaches to determining the rolling resistance of a wheeled vehicle in straight motion, which is a separate case from curved motion. The value of this parameter is one of the vehicle components of the motion resistance along a curved path. The regularities of changes in the motion resistance of a two-axle wheeled vehicle along a curvilinear trajectory are determined based on the determination of the motion resistance of individual wheels, which considers resistance to rectilinear motion and additional resistance along a curved path caused by the twisting and lateral displacement of the wheel disc relative to the tire patch. Analytical dependences of changes in the motion resistance along a curvilinear trajectory of two-axle vehicles with the design f...
Bulletin of the National Technical University «KhPI» Series: New solutions in modern technologies
It is shown that the responsible parts of each vehicle are tubular connecting lines, which are in... more It is shown that the responsible parts of each vehicle are tubular connecting lines, which are included into the braking, fuel and exhaust systems of cars. These pipelines have high requirements for reliability, vibration resistance, strength, corrosion resistance and durability. These parts are used as expanders and connecting elements when transitioning from a smaller pipeline diameter to a larger one. The paper presents studies of the operation of distributing the end of the pipe blank with a rigid punch. In the process of distribution, the acting tangential stresses lead to a decrease in the thickness of the edge section of the workpiece. This entails a decrease in the reliability of this area during operation and a decrease in its maintainability and corrosion resistance. Also, to ensure the tightness of pipe connections, threads are cut or these areas are welded together in the specified areas of the workpieces. Therefore, an important design feature of tubular diffusers is th...
The process of thermo-mechanically controlled rolling in the conditions of Steckel mill of Ferrie... more The process of thermo-mechanically controlled rolling in the conditions of Steckel mill of Ferriera Valsider plant was developed for the first time for hot-rolled coils in the sizes of 12 mm × 1510 mm from steel of X65 grade for further production of electric welded pipes according to the API-5L standard. The developed process provides carrying out of the roughing-rolling in two stages to facilitating the forming of a smaller austenite grain and therefore more dispersed and homogeneous inherited ferrite structure in the finished rolled product. At the implementation of the process, the holddown of the temperature at the desired level at 1780 Steckel rolling mill has been carried out by adjusting the number of burners in furnace coilers. The process of controlled air cooling of rolled coils to a temperature of 400°C after winding in the developed technology for Steckel’s mill condition of Ferriera Valsider plant is applied for the first time that allowed to reduce the thickness of th...
The performed research helped to develop and implement a new process of manufacturing small high ... more The performed research helped to develop and implement a new process of manufacturing small high pressure cylinders, in which the operation of pressing of tubular blanks with preliminary induction heating of the deformation zone. A two-layer inductor was designed and an industrial unit for preliminary differentiated induction pre-heating for the developed technological process. The forming rate was determined, ensuring preservation of the specified temperature difference and manufacturing of deformed tube end in accordance with the requirements for its geometry. Heating die-blocks were designed for blanks deforming for application in manufacturing of diameter, allowing keeping the necessary temperature gradient at deforming. Developed technological lubricants can be used for obtaining high quality products, increase in labor protection and die-blocks durability.
The results study of the motion along a curvilinear trajectory of a multi-axle vehicle axle group... more The results study of the motion along a curvilinear trajectory of a multi-axle vehicle axle group elastic wheel on a ground plane with a high coefficient of adhesion are presented. The elastic wheel is considered as an integral mechanism, which includes a hard rim, an elastic tire body and a large tire contact patch.The analysis of previous studies showed that during the elastic wheel movement along a curved trajectory, the wheel rim rotates simultaneously and its lateral offset relative to the tire contact patch. Turning the disc causes the tire body torsion and its lateral offset causes the wheel to roll with the slip angle. The torsion angle of the tire body in absolute value is equal to the slip angle and their values depend on the curvature of the trajectory, the longitudinal axis of the tire contact patch and the presence of adhesion in it.It is established that if the wheel of vehicle axle group is offset relative to the center of the portable movement during the motion along...
СУЧАСНІ ТЕХНОЛОГІЇ В МАШИНОБУДУВАННІ ТА ТРАНСПОРТІ
Наведено результати дослідження руху еластичного колеса по криволінійній траєкторії з нахилом до ... more Наведено результати дослідження руху еластичного колеса по криволінійній траєкторії з нахилом до дороги з високим коефіцієнтом зчеплення. Еластичне колесо розглядається як цілісний механізм, до складу якого входить жорсткий диск, еластичне тіло шини (пневматик) та значний за своїми розмірами контактний відбиток шини. Аналіз раніше проведених досліджень показав, що під час руху еластичного колеса по криволінійній траєкторії відбувається одночасно поворот диска колеса та його бічне зміщення відносно контактного відбитка шини. Поворот диска викликає закручування тіла шини, а його бічне зміщення зумовлює кочення колеса з кутом відведення. При цьому кут закручування тіла шини за абсолютною величиною дорівнює куту відведення, а їх значення залежать від кривизни траєкторії руху, поздовжньої осі контактного відбитка шини та наявності зчеплення в ньому. Установлено, що під час руху еластичного колеса з нахилом до дороги по криволінійній траєкторії, до явищ, що протікають у пневматику під час...
Journal of Mechanical Engineering and Transport, 2022
The results of the study of the motion of an elastic wheel as an integral mechanism along a curvi... more The results of the study of the motion of an elastic wheel as an integral mechanism along a curvilinear and a rectilinear trajectory with a slip on the ground plane having a high adhesion coefficient are presented. The previous researches analysis has shown that the most complete theory of wheel skidless rolling without slipping on elastic pneumatics was formulated by Keldysh V. M. who proposed the equation for calculating the curvature of the motion trajectory. Due to the difficulty of this equation coefficients determining, its use is currently limited. In this paper, the dependences for determining the components of the equation of the elastic wheel motion trajectory curvature have been proposed. According to the shimmy theory, during an elastic wheel rolling along a curvilinear trajectory, the rim turn and its lateral displacement relative to the tire-ground contact patch occur simultaneously. The rim turn causes tire body torsion, and the lateral displacement causes the elastic...
2020 IEEE Problems of Automated Electrodrive. Theory and Practice (PAEP), 2020
The value and steer angle ratio, steering effort of the steerable wheels while operating the vehi... more The value and steer angle ratio, steering effort of the steerable wheels while operating the vehicle are determined by the steering linkage and steering drive ratio. Since the kingpins of the real vehicle have a combined slope, the trapezoidal steering linkage is a four-bar spatial mechanism, all points of which are rotated in three dimentions during rotation. The paper proposes a mathematical model of the spatial steering linkage, which allows to calculate the steer angles and its steering linkage ratio in the full range of steer angles. The spatial model provides a higher accuracy of calculations comparing with the flat model. It is proved that it is permissible to use a flat model, which is simpler, to analyze the kinematics of steerable wheel rotation with sufficient accuracy. When using a flat model, the calculation of trapezoidal steering mechanism gear ratios the fallibility is up to 35%. To calculate the power parameters of the steering, such as the effort on the steerable wheel and the total steering resistance torque of the steerable wheels, it is more appropriate to use a spatial model that is more complex but it provides high accuracy. The accuracy of the calculations is confirmed by the results of 3D modeling in Creo software.
СУЧАСНІ ТЕХНОЛОГІЇ В МАШИНОБУДУВАННІ ТА ТРАНСПОРТІ
Наведено результати дослідження коефіцієнта опору кочення еластичного колеса під час прямолінійно... more Наведено результати дослідження коефіцієнта опору кочення еластичного колеса під час прямолінійного руху по недеформованій опорній поверхні. Розглядаючи еластичне колесо як складний цілісний механізм, проаналізовано сили та моменти, які діють на колесо під час подолання опору коченню для двох випадків: колесо ведене та колесо ведуче. Установлено, що опір коченню веденого еластичного колеса долається активною силою штовхання, яка прикладена до осі колеса від остова автомобіля та напрямлена за вектором руху колеса. Вона врівноважується реакцією опорної поверхні, яка рівна їй за величиною та протилежна за напрямком. Реакція опорної поверхні та сила штовхання створюють момент відносно осі колеса, рівний за абсолютною величиною моменту опору коченню. Кочення ведучого колеса забезпечується прикладеним від трансмісії автомобіля до жорсткого диска колеса крутним моментом, який викликає в контакті шини з опорною поверхнею активну силу, напрямлену протилежно вектору швидкості руху колеса. Ця ...
IOP Conference Series: Materials Science and Engineering, 2020
The “wing nut” is a widespread transport and ship fixture designed to locking of hatches, covers ... more The “wing nut” is a widespread transport and ship fixture designed to locking of hatches, covers and portholes. A more advanced closed die forging for the “wing nut” forgings of transport fittings was proposed with preforming by new method of bulk buckling of billet with upsetting ratio (height to diameter ratio) of 4.2...4.4. The billet and process calculation were performed based on results of researched and a new die forging was tested on a screw friction press. The results of experimental studies conducted on model lead billets at room temperature, and steel billets heated to 1180 °C, confirmed the increase in the accuracy rate of the billet material utilization ratio (one forging mass to one billet mass ratio) from 0.519 to 0.734 and metal savings up to 41% in comparison with the basic die forging without preforming of billet. It is shown that the introduction of a preforming by bulk buckling operation improves the forgings macrostructure (grainflow) even for cases the initial ...
IOP Conference Series: Materials Science and Engineering, 2020
Steel hollow sections are common for transport engineering, vehicles, highway guardrails. The spe... more Steel hollow sections are common for transport engineering, vehicles, highway guardrails. The special requirements for strength and stiffness are determined by tests. The three-point bending test experimental and FEM research were carried out on steel rectangular hollow sections (RHS) with a cross section of 40 mm × 50 mm, manufactured in two ways: (a) by cold bending of steel strips on roll-forming mill in semi-closed section with a longitudinal gap of 0.5 mm between the edges formed on a 40 mm web (B-RHS); (b) similar cold roll-forming to the closed section and welding with a longitudinal weld along the web middle of 50 mm (BW-RHS). As a result, the graphs and analytical equations for relating the force (P) and deflection (f) at load on 50 mm and 40 mm webs were obtained, and revealed the advantages of bent-welded sections (BW-RHS) by stiffness and strength. FEM was performed using the SolidWorks CAD/CAE system for various RHS wall thicknesses (t = 1.93 mm, 1.84 mm and 0.7 mm). It...
IOP Conference Series: Materials Science and Engineering, 2020
List of the most used functions (circle, parabola, ellipse, hyperbola, cosine, hyperbolic cosine)... more List of the most used functions (circle, parabola, ellipse, hyperbola, cosine, hyperbolic cosine), which are applied to approximate of billets contours at upsetting and pointed to the lack of a universal equation for these purposes, was analyzed. The advantages and disadvantages of each type of equations are pointed. The paper presents the results of upsetting of lead cylindrical specimens with a upsetting ratio 2.0-4.0. The experiment shows the stages of a “double barrel” forming on the lateral surface of a billet and its subsequent transition to a single one. The authors propose to use the “superformula” recently invented by Johan Gielis as a universal equation that allows to approximate the contour of the lateral surface of a billet at all stages of upsetting. The paper presents comparative initial data necessaries to determine upsetting force and pressure, taking into account the barrel-shape calculated by the superformula, and the coefficient of friction determined by Gubkin’s ...
Постановка проблеми Прикладені до вхідної ланки еластичного колеса, якою є жорсткий диск, крутний... more Постановка проблеми Прикладені до вхідної ланки еластичного колеса, якою є жорсткий диск, крутний момент від трансмісії, гальмівний момент від гальмівного механізму, сила штовхання від остова, момент від кермового керування, бічна сила, зумовлена вітром, нахилом опорної поверхні та інерційними
Central Ukrainian Scientific Bulletin. Technical Sciences
The problem of determining the optimal number and location of charging stations for electric tran... more The problem of determining the optimal number and location of charging stations for electric transport within the settlement is being studied. To solve this problem, the criteria, factors and limitations of the optimal placement of charging stations were defined. Since the task included ensuring the comfortable operation of electric cars by citizens until 2025, it was necessary to forecast the number of electric cars that will be registered in the town of Cherkasy. For this, a portrait of the potential consumer was drawn up, and the potential capacity of the transport market was determined. Also, the key points of concentration of potential customers were determined, the level of charging stations for electric vehicles that will ensure their operation in the town of Cherkasy was selected, and the calculation of the optimal number of charging stations for the South-Western district of Cherkasy was performed. Since there are no regulations regarding the required number of charging sta...
The value of the motion resistance is one of the important characteristics that determines the te... more The value of the motion resistance is one of the important characteristics that determines the technical and operational properties of the vehicle, in particular its fuel economy under operating conditions. This article summarizes the approaches to determining the rolling resistance of a wheeled vehicle in straight motion, which is a separate case from curved motion. The value of this parameter is one of the vehicle components of the motion resistance along a curved path. The regularities of changes in the motion resistance of a two-axle wheeled vehicle along a curvilinear trajectory are determined based on the determination of the motion resistance of individual wheels, which considers resistance to rectilinear motion and additional resistance along a curved path caused by the twisting and lateral displacement of the wheel disc relative to the tire patch. Analytical dependences of changes in the motion resistance along a curvilinear trajectory of two-axle vehicles with the design f...
Bulletin of the National Technical University «KhPI» Series: New solutions in modern technologies
It is shown that the responsible parts of each vehicle are tubular connecting lines, which are in... more It is shown that the responsible parts of each vehicle are tubular connecting lines, which are included into the braking, fuel and exhaust systems of cars. These pipelines have high requirements for reliability, vibration resistance, strength, corrosion resistance and durability. These parts are used as expanders and connecting elements when transitioning from a smaller pipeline diameter to a larger one. The paper presents studies of the operation of distributing the end of the pipe blank with a rigid punch. In the process of distribution, the acting tangential stresses lead to a decrease in the thickness of the edge section of the workpiece. This entails a decrease in the reliability of this area during operation and a decrease in its maintainability and corrosion resistance. Also, to ensure the tightness of pipe connections, threads are cut or these areas are welded together in the specified areas of the workpieces. Therefore, an important design feature of tubular diffusers is th...
The process of thermo-mechanically controlled rolling in the conditions of Steckel mill of Ferrie... more The process of thermo-mechanically controlled rolling in the conditions of Steckel mill of Ferriera Valsider plant was developed for the first time for hot-rolled coils in the sizes of 12 mm × 1510 mm from steel of X65 grade for further production of electric welded pipes according to the API-5L standard. The developed process provides carrying out of the roughing-rolling in two stages to facilitating the forming of a smaller austenite grain and therefore more dispersed and homogeneous inherited ferrite structure in the finished rolled product. At the implementation of the process, the holddown of the temperature at the desired level at 1780 Steckel rolling mill has been carried out by adjusting the number of burners in furnace coilers. The process of controlled air cooling of rolled coils to a temperature of 400°C after winding in the developed technology for Steckel’s mill condition of Ferriera Valsider plant is applied for the first time that allowed to reduce the thickness of th...
The performed research helped to develop and implement a new process of manufacturing small high ... more The performed research helped to develop and implement a new process of manufacturing small high pressure cylinders, in which the operation of pressing of tubular blanks with preliminary induction heating of the deformation zone. A two-layer inductor was designed and an industrial unit for preliminary differentiated induction pre-heating for the developed technological process. The forming rate was determined, ensuring preservation of the specified temperature difference and manufacturing of deformed tube end in accordance with the requirements for its geometry. Heating die-blocks were designed for blanks deforming for application in manufacturing of diameter, allowing keeping the necessary temperature gradient at deforming. Developed technological lubricants can be used for obtaining high quality products, increase in labor protection and die-blocks durability.
The results study of the motion along a curvilinear trajectory of a multi-axle vehicle axle group... more The results study of the motion along a curvilinear trajectory of a multi-axle vehicle axle group elastic wheel on a ground plane with a high coefficient of adhesion are presented. The elastic wheel is considered as an integral mechanism, which includes a hard rim, an elastic tire body and a large tire contact patch.The analysis of previous studies showed that during the elastic wheel movement along a curved trajectory, the wheel rim rotates simultaneously and its lateral offset relative to the tire contact patch. Turning the disc causes the tire body torsion and its lateral offset causes the wheel to roll with the slip angle. The torsion angle of the tire body in absolute value is equal to the slip angle and their values depend on the curvature of the trajectory, the longitudinal axis of the tire contact patch and the presence of adhesion in it.It is established that if the wheel of vehicle axle group is offset relative to the center of the portable movement during the motion along...
СУЧАСНІ ТЕХНОЛОГІЇ В МАШИНОБУДУВАННІ ТА ТРАНСПОРТІ
Наведено результати дослідження руху еластичного колеса по криволінійній траєкторії з нахилом до ... more Наведено результати дослідження руху еластичного колеса по криволінійній траєкторії з нахилом до дороги з високим коефіцієнтом зчеплення. Еластичне колесо розглядається як цілісний механізм, до складу якого входить жорсткий диск, еластичне тіло шини (пневматик) та значний за своїми розмірами контактний відбиток шини. Аналіз раніше проведених досліджень показав, що під час руху еластичного колеса по криволінійній траєкторії відбувається одночасно поворот диска колеса та його бічне зміщення відносно контактного відбитка шини. Поворот диска викликає закручування тіла шини, а його бічне зміщення зумовлює кочення колеса з кутом відведення. При цьому кут закручування тіла шини за абсолютною величиною дорівнює куту відведення, а їх значення залежать від кривизни траєкторії руху, поздовжньої осі контактного відбитка шини та наявності зчеплення в ньому. Установлено, що під час руху еластичного колеса з нахилом до дороги по криволінійній траєкторії, до явищ, що протікають у пневматику під час...
Journal of Mechanical Engineering and Transport, 2022
The results of the study of the motion of an elastic wheel as an integral mechanism along a curvi... more The results of the study of the motion of an elastic wheel as an integral mechanism along a curvilinear and a rectilinear trajectory with a slip on the ground plane having a high adhesion coefficient are presented. The previous researches analysis has shown that the most complete theory of wheel skidless rolling without slipping on elastic pneumatics was formulated by Keldysh V. M. who proposed the equation for calculating the curvature of the motion trajectory. Due to the difficulty of this equation coefficients determining, its use is currently limited. In this paper, the dependences for determining the components of the equation of the elastic wheel motion trajectory curvature have been proposed. According to the shimmy theory, during an elastic wheel rolling along a curvilinear trajectory, the rim turn and its lateral displacement relative to the tire-ground contact patch occur simultaneously. The rim turn causes tire body torsion, and the lateral displacement causes the elastic...
2020 IEEE Problems of Automated Electrodrive. Theory and Practice (PAEP), 2020
The value and steer angle ratio, steering effort of the steerable wheels while operating the vehi... more The value and steer angle ratio, steering effort of the steerable wheels while operating the vehicle are determined by the steering linkage and steering drive ratio. Since the kingpins of the real vehicle have a combined slope, the trapezoidal steering linkage is a four-bar spatial mechanism, all points of which are rotated in three dimentions during rotation. The paper proposes a mathematical model of the spatial steering linkage, which allows to calculate the steer angles and its steering linkage ratio in the full range of steer angles. The spatial model provides a higher accuracy of calculations comparing with the flat model. It is proved that it is permissible to use a flat model, which is simpler, to analyze the kinematics of steerable wheel rotation with sufficient accuracy. When using a flat model, the calculation of trapezoidal steering mechanism gear ratios the fallibility is up to 35%. To calculate the power parameters of the steering, such as the effort on the steerable wheel and the total steering resistance torque of the steerable wheels, it is more appropriate to use a spatial model that is more complex but it provides high accuracy. The accuracy of the calculations is confirmed by the results of 3D modeling in Creo software.
Uploads
Papers by Eduard Klimov