Model for stationary turn of an arbitrary vehicle

The authors of the article propose a block-modular approach to constructing a mathematical model of stationary rotation of an arbitrary vehicle. This new method allows us to describe the curvilinear motion of a machine with any number of wheels and the type of transmission. Unknown ground reactions (driving force, shear force and stabilization moment in the wheel-to-ground contact) are functions of unknown coordinates of the instantaneous slip centre. The connection between the problem of force and the kinematic problem allows us to solve these problems simultaneously. Additional equations of holonomic (geometric) constraints reflect the position of the wheel and its installation angle relative to the vehicle frame. Equations of non-holonomic (kinematic) constraints describe the type of transmission and the way the wheel is moved. The advantage of the proposed approach is the ability to predict the behaviour of the machine during the design phase.