UkrainianProfessional Education

Abstract

The article addresses the issue of ensuring stable operating conditions for continuousoperation earthmoving machines and other specialized machinery when subjected to lateral forces in the contact zone between the tracked undercarriage and the supporting surface. Such a situation is highly likely, particularly when earthmoving machines operate on uneven or complex terrain. Additionally, trenching and excavation machines working in a fan-like reciprocating motion mode also experience lateral force effects. The comprehensive challenge of preventing earthmoving machines from slipping due to lateral forces, whether on horizontal surfaces or slopes, requires an initial analytical solution. Slippage in machines operating in a turning mode can be eliminated by preventing the less-loaded track from slipping during movement. This study presents a computational model and derives dependencies for determining the longitudinal and lateral forces acting on the tracked undercarriage, as well as the resistance moment to turning, which causes a shift in the turning pole of the track chain resting on the ground. It is shown that to determine the permissible value of the lateral force that prevents sideward displacement of the tracks, it is necessary to establish an acceptable combination of longitudinal and lateral forces acting on the undercarriage, along with the corresponding resistance moment to turning. The potential rotation of the lower track branch during machine slippage occurs around a turning center that does not coincide with the track’s support surface center. The kinematics of track movement during machine slippage are analyzed, and the forces acting on the track in this scenario are determined. Calculations confirm the dependence of the force interaction characteristics between the tracked undercarriage and the supporting surface on the changing coordinates of the machine’s turning center

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