Study on Roll Instability Mechanism and Stability Index of Articulated Steering Vehicles

This study examines the roll instability mechanism and stability index of articulated steering vehicles (ASVs) by taking wheel loaders as the research object. A seven-degree-of-freedom nonlinear dynamics model of the ASVs is built on the basis of multibody dynamics. A physical prototype model of an ASV is designed and manufactured to validate the dynamic model. Test results reasonably agree with the simulation results, which indicates that the established dynamic model can reasonably describe ASV movements. Detailed analysis of the rollover stability of the wheel loader is performed with the use of the established dynamic model. Analysis results show that rollover will occur when the roll angular velocity exceeds a critical threshold, which is affected by lateral acceleration and slope angle. On this basis, a dynamic stability index applicable to the ASVs is presented.