Kinematics of point-to-point contact of wheels with a rails

The railway transport in a maximum degree is conservative. For example, the design of wheelsets, practically, has not changed for the last 150 years. Such a long life was given to this tendency by its high reliability and simplicity of the design. It is considered, that the rigid connection of wheels by means of an axis provides a self-centering of wheelset within the limits of a cross backlash of a railway. The tread contact surfaces have a difficult profile. Researches of many scientists, dealing with the questions of interaction of wheels with rails, show that the classical approach to the wheelset design leads to many problems of the railway transport. Therefore, the authors of this article strived for deeper consideration of kinematics of a movement of vehicle by a railway.