INTERNATIONAL JOURNAL OF ARTIFICIAL INTELLIGENCE
ISSN: 2692-5206, Impact Factor: 12,23
American Academic publishers, volume 05, issue 02,2025
Journal:
https://www.academicpublishers.org/journals/index.php/ijai
page 7
ADVANTAGES OF HIGH-TERRAIN VEHICLE WITH ARTICULATED FRAME
Shukurov Nuritdin Rakhimovich
Candidate of Technical Sciences,
Associate Professor Academy of the Ministry
of Internal Affairs of the Republic of Uzbekistan
Abstract:
The machine with hinged frame is widely used in the construction of automobile roads,
mining and agriculture, as well as other earthworks and underground railways.The article
presents the results of a theoretical analysis of the kinematics of rotation of a four-axle
articulated vehicle, taking into account its design features.
Keywords:
articulated vehicle, turning kinematics, layout, maneuverability, cross-
country ability, productivity.
As you know, an articulated construction machine, designed for construction, loading,
cleaning and other work, is a multifunctional universal equipment designed to work in confined
spaces. For example, many of the functions of an articulated skid steer are determined primarily
by the size of the attachment used.
The first such forklifts were developed by the American company Clark Equipment Co.
in 1917 at the foundry. They were designed to transport sand as well as workpieces and were
called Trutractor, which was a three-wheeled cart with a platform and a gasoline engine [1].
The Trutractor had no gearbox, no brakes, no hydraulic system, and the steering was
primitive. To slow down this car, special barriers were installed on its path. Despite this,
Trutractor coped with its task, which stimulated further improvements.
At the beginning of the 20th century, Ed Wagner & Sons Concrete Contractors of
Portland, Oregon, in need of mechanization of concrete transportation, developed a unique
autonomous concrete mixer truck called the Mixermobile.
In 1936, the Wagner family founded the Mixermobile Manufacturers company to
produce these mixermobiles. In an attempt to make bucket loading more efficient, Mixermobile
developed one of the world's first wheel loaders, called the Scoopmobile. The Scoopmobile
featured an unusual three-wheel design (two wheels in the front and one in the back) and was
steered by a rotary handle like a boat [2].
However, the Wagners' biggest contribution to the wheel loader industry came in 1953
when they introduced the Scoopmobile models LD5 and LD10. These were the world's first
articulated loaders. [3].
Of course, over several decades, the design of an articulated loader has undergone
significant changes, only the articulated layout has remained unchanged [4].
INTERNATIONAL JOURNAL OF ARTIFICIAL INTELLIGENCE
ISSN: 2692-5206, Impact Factor: 12,23
American Academic publishers, volume 05, issue 02,2025
Journal:
https://www.academicpublishers.org/journals/index.php/ijai
page 8
The design of an articulated loader is characterized by the presence of two semi-frames,
front and rear, connected to each other by a hinge. The rotation is carried out during the
movement and control of the mini-loader, when one of the semi-frames, using a hydraulic
cylinder, changes the angle of position relative to the other in the horizontal plane.
Thus, the rotation of the mini-loader is carried out not by the angle of the wheels, as
happens with conventional wheeled mini-loaders, but by bending (fracture) in two. This allows
the mini-loader to turn literally “on its heels”; thanks to the bend in the frame, small turning radii
are achieved, which is especially important for equipment designed to work in cramped
conditions.
As a rule, such machines have a hydrostatic transmission, and the most modern
articulated mini-loaders do not even have axles as such - the flow of working fluid is transmitted
directly through a hydraulic pump to four wheel motors [5].
At present, the development of road and construction engineering is associated with an
increase in the production of machines with increased unit capacity for construction, serial
production of machines based on powerful industrial tractors and wheeled tractors. Such
machines serve to increase unit capacity, reliability and durability, improve the quality of
machines in general and increase productivity.
As is known, articulated vehicles are widely used mainly in specialized work in difficult
conditions: mining and underground work, road construction, agricultural work, earthworks, etc.
In addition, three-axle articulated dump trucks are used to transport light soils that do not
require an armored div and reinforced suspension, as in quarry short-base dump trucks.
Articulated agricultural machines were created when the requirements for the productivity of
tillage operations increased significantly. So much so that even machines with improved
traditional layouts became too clumsy. Due to the breakable frame, machines with articulated
frames gained an advantage in maneuverability, despite their greater massiveness [6].
In addition, machines with articulated frames "bend" in the vertical plane, which ensures
constant adhesion of the propellers to the ground.
This makes it possible to increase stability, controllability, cross-country ability and
traction quality of machines on uneven terrain. Agricultural tractors with an articulated frame are
designed specifically for use in complex earthworks.
The layout of the machines allows for a virtually ideal weight distribution along the axles
and the installation of equal-sized wheels on wheeled machines, which increases the contact
patch of the propellers with the ground and provides uniform pressure, improving cross-country
ability and traction performance. Also, articulated vehicles are capable of converting almost all
of the engine power into the traction force of the propellers [7].
If articulated wheeled vehicles are equipped with twin wheels, their already high
efficiency increases even more. In practice, working with twin wheels has shown many
advantages:
reduction of ground pressure up to two times;
INTERNATIONAL JOURNAL OF ARTIFICIAL INTELLIGENCE
ISSN: 2692-5206, Impact Factor: 12,23
American Academic publishers, volume 05, issue 02,2025
Journal:
https://www.academicpublishers.org/journals/index.php/ijai
page 9
reduction of inefficient slippage;
increase of traction force on the hook;
higher productivity;
lower fuel consumption.
Also, the productivity of construction and road machinery with a predominantly transport
mode of operation is largely determined by their off-road capability and weak soils.
One of the ways to increase the cross-country ability of basic energy-intensive machines
is to install large-sized low-pressure tires, pneumatic tires and arched tires.
However, large-size low-pressure tires, pneumatic tires and arched tires are not
aggregated with standard controlled drive axles of serially produced machines. Installation of
pneumatic tires leads to an increase in the distance between the axis of the kingpin and the
longitudinal plane of the wheel, limits the angles of rotation around the kingpins, and also
complicates the movement of machines due to an increase in the overall dimensions in width.
Therefore, the choice of the optimal design scheme of the chassis, ensuring maximum
unification of the developed machines on tires of this type, is of great practical interest.
The desire to use large-diameter wheels on a vehicle (without changing the width of the
frame), reduce its own weight, improve maneuverability and cross-country ability led to the
creation of vehicles with an articulated breakaway frame.
The articulated chassis design allows for the installation of non-steering drive axles,
large-size low-pressure tires on a standard suspension. In this case, the machine turns by relative
rotation of the front and rear sections of the frame in the horizontal plane [8].
Since the articulated vehicle consists of two breakable half-frames, for the kinematic
analysis each section is considered as two separate rigid bodies, and for each of these bodies a
separate kinematic equation is derived. When deriving the kinematic equation of an articulated
vehicle, the elasticity of pneumatic tires is taken into account only by the rolling radii of the
wheels and the slip angles. All kinematic parameters, including the slip angle value, are
expressed through independent coordinates and geometric dimensions [9].
Let us consider the kinematics of rotation of a four-axle articulated vehicle relative to a
frame of reference associated with a flat road. In this case, we find the projections of the
velocities of the coordinates of the wheel centers of the front А
1
….А
4
and rear В
1
.…В
4
sections;
the center of mass of the rear section and the articulated joint 0, on the coordinate axes
As is known, the projection of the velocity on the axis is equal to the time derivative of
the corresponding coordinate.
Taking into account the dependence of the folding angles of the front φ
А
and rear section
φ
В
on time relative to the road coordinates, we obtain:
For articulated joint:
x
0
= x
C
A
+
a
2
φ
A
cos φ
A
+ a
1
φ
A
sin φ
A
;
INTERNATIONAL JOURNAL OF ARTIFICIAL INTELLIGENCE
ISSN: 2692-5206, Impact Factor: 12,23
American Academic publishers, volume 05, issue 02,2025
Journal:
https://www.academicpublishers.org/journals/index.php/ijai
page 10
у
0
= у
C
A
+ a
2
φ
A
sin φ
A
− a
1
φ
A
cos φ
A
.
(1)
For the center of mass of the rear section:
x
С
в
= x
C
A
+
φ
A
(
a
1
sin φ
A
+ a
2
cos φ
A
) +
φ
В
(
В
1
sin φ
В
− В
2
cos φ
В
) ;
у
С
в
= у
C
A
–φ
A
(
a
1
cos φ
A
+ a
2
sin φ
A
) +
φ
В
(
В
1
cos φ
В
+ В
2
sin φ
В
).
(2)
Based on the projection of the velocities of the wheel coordinate centers of the front and
rear sections, expressions for the tangents of the wheel slip angles can be obtained. These angles
can be obtained as the difference between the wheel center velocities
x
A
1
. . . x
A
4
with the x-axis
and the angles
φ
A
, φ
В
formed by the geometric axes of the sections
x
C
A
,
y
C
A
,
x
С
в
and
y
С
в
with
the same
x
axis from the following relationships:
for each wheel of the front section
tg α
1
=
у
A1
x
A1
; . . . . . . . .
tg α
4
=
у
A4
x
A4
,
(3)
for each rear section wheel
tg β
1
=
У
В1
x
В1
; . . . . . . . .
tg β
4
=
у
В4
x
В4
.
(4)
Thus, as a result of the theoretical analysis of the kinematics of the articulated machine, a
system of equations was obtained that describes the kinematics of the main points of the machine
depending on the design parameters for all cases (straight and turning) of movement and the
nature (plane-parallel, flat and inclined) of the support surface.
The implementation of the obtained system of kinematic equations in combination with
the equations of the dynamics of an articulated machine, using a computer system, would allow
the designer-researcher to select the most effective machine configuration, taking into account its
operational properties, even at the pre-design stage.
References:
1.
Articulated Skid Steer Loader. – URL: https://ru.wikipedia.org/wiki/Шарнирно-
сочленённый_мини-погрузчик (date of access: 22.01.2025).
2. Historical equipment. The first articulated wheel loader by Tom Berry. – URL:
https://www.constructionequipment.com/first-articulated-wheel-loader (date of access:
22.01.2025).
3. Eddie
Wagner’s
patent
for
the
first
articulated
forklift.
–
URL:
https://www.freepatentsonline.com/2835397.html (date of access: 22.01.2025).
INTERNATIONAL JOURNAL OF ARTIFICIAL INTELLIGENCE
ISSN: 2692-5206, Impact Factor: 12,23
American Academic publishers, volume 05, issue 02,2025
Journal:
https://www.academicpublishers.org/journals/index.php/ijai
page 11
4.
–
URL:
https://www.freepatentsonline.com/20180001932.pdf (date of access: 22.01.2025).
5.
Hydrostatic transmissions. – URL: https://stroy-technics.ru/article /gidroobemnye-
transmissii (date of access: 22.01.2025).
6. S.N. Rakhimovich, S.M. Fayzilvakhobovich. Road transport main pollutant environment//
International scientific review.
–
№ 6.
–
2021.
–
Р.
–
5-7.
7.
Articulated
machines.
[Electronic
resource].
–
URL:
https://www.drive2.ru/b/632560310527474270/ (date of access: 22.12.2024).
8. Articulated
frame
of
a
road
construction
machine.
–
URL:
https://patents.google.com/patent/RU73301U1/ru (date of access: 22.12.2024).
9. Razzakov H.H., Shukurov N.R. Multipurpose base vehicle with high cross-country ability.
Collection of scientific papers. “Organization, technology, ecology and mechanization in
construction”. – Samarkand: Sam GASI, 1995. –P.36-38.
