6x6 Ağır Vasıtalarda Tekil Değer Ayrışımı Tabanlı Geometrik Kararlılık ve Orta Aks Optimizasyonu

Karagöz Y. M., Ipci D.

26th International İstanbul Scientific Research Congress on Life, Engineering, Architecture, and Mathematical Sciences, İstanbul, Türkiye, 18 - 20 Ağustos 2026, ss.340-352, (Tam Metin Bildiri)

Özet

Heavy-duty vehicle platforms featuring tandem axles and tactical wheels are subjected to asymmetric loading and significant spatial uncertainties regarding their center of mass throughout their operational lifespan. Determining the middle axle position solely based on a reference center of mass during chassis design compromises the vehicle's rollover and pitch stability under real-world conditions. Design-oriented simulations and iterative numerical methods found in the literature entail high computational costs during the preliminary design phase. In this study, an analytical optimization model based on Singular Value Decomposition (SVD) was developed to directly determine the geometric stability and optimal middle axle placement of hyperstatic vehicle chassis without requiring iterations. A hyperstatic 6x6 heavy-duty vehicle chassis was selected to validate the theoretical approach of the methodology. For the mathematical modeling, the vehicle body was treated as a rigid structure, excluding elastic deformations resulting from torsion or bending within the chassis. A 6-Degree-of-Freedom (6-DOF) Geometric Jacobian matrix was constructed using the coordinates of the vehicle's wheels relative to its center of mass. The system's directional loadbearing capacities were derived by decomposing the geometric matrix into its orthogonal subspaces via the SVD algorithm. The condition number was utilized to optimize the middle axle position amidst uncertainties regarding the vehicle's center of mass. The findings quantify the stability loss inherent in industrial tandem axle architectures and demonstrate that the developed methodology can serve as a rapid, reliable mathematical filter grounded in rigid-body kinematics for vehicle preliminary design processes.