Features of the kinematic analysis of the power distribution mechanism, which provides a turn with zero radius

The article discusses the features of performing a kinematic analysis of a controlled power mechanism, which additionally implements a force turn mode with a zero radius. The mechanism can be used for transmission of wheeled and caterpillar transport and technological machines. Related mechanisms are mainly used on cars to improve handling, stability, traction and dynamic properties in difficult road conditions, but do not provide a turn with a zero radius. In Russia, such mechanisms are not produced, although theoretical studies are underway, the results of which will make it possible to determine the main parameters of the mechanism and to synthesize its kinematic scheme. The approaches proposed in the article are based on the methods used in the kinematic analysis of planetary gears, however, it is taken into account that the power distribution mechanism during operation has two degrees of freedom. The presence of structural and functional similarity between the vehicle power distribution mechanism and the tracked vehicle turning mechanism is indicated. In one of the modes of operation, the mechanism under consideration functions similarly to the existing ones: due to the controlled sliding in the disk controls, the turning radii pass from infinite (rectilinear) to minimum (calculated). The calculated turning radius is the radius obtained in the absence of slippage in the friction controls of the power distribution mechanism. In the other, a turn is performed in place with a zero radius. When the vehicle is in a straight line, the controls are disabled, the absence of power circulation in the drive axle is ensured, as in traditional transmissions, by the differential, which is part of the mechanism.