Features of the vehicle axle group wheels’ movement on a trajectory circular

The results study of the motion along a curvilinear trajectory multi-axle vehicle axle group elastic wheel on ground plane with high coefficient adhesion are presented. is considered as an integral mechanism, which includes hard rim, tire body and large contact patch.The analysis previous studies showed that during movement curved trajectory, rim rotates simultaneously its lateral offset relative to patch. Turning disc causes torsion roll slip angle. angle in absolute value equal their values depend curvature longitudinal axis patch presence it.It established if center portable there will be additional disk time when travels path Dependences for determination angles wheels has been determined. It caused by depends base, radius zones total wheel, shifted vehicle’s motion, determined sum kinematic If sliding plane, increase proportional part patch, state plane.