Theoretical study of the movement of the wide span machine in quasi-static turning mode.

Wide span machines represent sophisticated energy and technological tools for controlled traffic farming. The curvilinear movement (turning) of these machines are often decisive in the design of new or evaluation of existing models of equipment. The application of classical theory of turning in researching wide span machines faces certain challenges due to limitations imposed when describing the force or kinematic interaction of their movers with the supporting surface along a constant technological track. Additionally, non-traditional control schemes further complicate the use of the classical turning theory. The present research aims to study the curvilinear motion of wide span vehicles in a quasi-static turning mode, allowing for the modelling of their turns with combined or non-traditional movers under various control schemes. As a result of the conducted research, it was established that a promising non-traditional turning scheme for a wide span machine is one where one rear wheel is driving, and the other is braking, with controllable front wheels. In this case, the turning radius of the machine is 1.5 times smaller compared to traditional turning schemes. It was experimentally proven that the practical implementation of this new non-traditional turning scheme for the wide span machine is limited by the magnitude of the load on its front wheels relative to the rear ones. [ABSTRACT FROM AUTHOR]