Computational approach to estimation the transverse Stability of multi-section chassis of extreme cross-country vehicles

Multi-section chassis have a great potential for geometric and fifth wheel cross-country ability. An example is a model of a six-wheeled all-wheel drive planetary rover designed at VNIITM to study the mobility of the mobile laboratory of the Mars-94/96 project. The concept of extreme cross-country chassis involves the use of three articulated sections with a wheel mover with a removable track or a permanent track module. The rotation is carried out by changing the relative position of the sections in the plan. The article proposes mathematical models that make it possible to calculate by calculation the critical speeds and radii, according to the transverse overturning and skidding, which limit the possibility of a multi-section tracked vehicle when turning. Further development of the model implies taking into account an arbitrary scheme of external forces (including the longitudinal component of the inertia force) and caterpillar sliding, and, as a result, the transition to an iterative process in the calculations. To check the models, a calculation was made for a mass-produced two-section military transport vehicle. The prospect of using the proposed models is a preliminary assessment of the transverse stability of a three-section chassis of extreme cross-country ability.