Turning modes of wheeled vehicles with transformable running gear

The article considers a fouraxle vehicle with a transformable running gear implemented as lift axles and its influence on possible chassis curvilinear motion modes. The main attention is drawn to the turning mode with desynchronization of angular velocities of different axle wheels rotation  the front axle slip and the rear axle slide turning mode. The calculations done by means of mathematical modelling have shown that such mode allows to reduce a turning diameter as much as possible, until the vehicle will turn around the central point of the rear axle. The application of this turning mode is reasonable under conditions of a limited space.