METHOD OF GENERATING DRIVING FORCE WAVES AT WHEELED VEHICLE AND UNIVERSAL WHEELED ROVER TO THIS END Russian patent published in 2011 - IPC B62D57/28 

FIELD: transport.

SUBSTANCE: proposed method consists in arranging at least four wheel pairs sequentially arranged at distance L one from another. Driving force waves are generated by acting on wheels by sign-variable harmonic forces shifted in phase and space, acting along vehicle motion. Phase shift angle of said harmonic forces is set equal to φ_i=180°L(l-i)/τ, where L=τ/n; τ=V/2f is polar division, that is, distance between two wheel pairs and shift angle φ of force application there between makes 180; f is frequency of harmonic force oscillations; i is serial number of wheel pair counted along wave motion; n is quantity of wheel pairs; V is preset wave speed. Rover with oscillating wheels comprises wheel pair actuators, body, engine with control system and at least four wheel pairs. Wheel pairs are jointed with lower edges of flat vertical rigid girders jointed with common rigid lengthwise beams running on both sides of said girders. Top edges of girders are articulated with drive generating sign-variable harmonic reciprocation x by law x=X_m×sin(ωt-φ_i), where, X_m is amplitude of reciprocation. Rover body is coupled with lengthwise beams by springs, while front wheel pair is equipped with steering column that turns its axle.

EFFECT: higher driving force, efficiency and reliability.

4 cl, 8 dwg