International Scientific Journals
of Scientific Technical Union of Mechanical Engineering "Industry 4.0"

Patency and safety of self-propelled wheeled machine are complex indicators of its quality, which will depend on the performance of its properties and performance of road conditions. When assessing the passability and safety of self-propelled machines, the issues of redistribution of tractive forces (or slippage) on their wheels when moving along a curve are practically not considered. The machine is a one-piece structure, considering only the greatest load when assessing the movement of machines on the ground and on a paved road on a turn is not sufficient. Therefore, when assessing the complex indicators of the quality of patency and machine safety, it becomes necessary to take into account also the redistribution of their skidding. Controllability and rotatability, are characterized by kinematic (trajectory, turning radius, etc.) and power (torque on driving wheels, reactions, etc.) parameters.

This paper presents the consideration of the individual processes of interaction of modular wheels with the road by establishing the relationships between them, as well as with the machine as a whole. In particular, this concerns the redistribution of tractive forces on the wheels of machines in assessing their patency and efficiency.