Abstract
This article aims to analyze the dynamic tilting characteristics of a four-wheel-legged harvester chassis. In order to achieve the pose and position of the chassis, kinematic model of a four-wheel-legged harvester chassis was established by the screw theory method. After analyzing the actual motion of the chassis during tilting process, dynamic tilting model of the wheel-legged articulated steering chassis was achieved based on the Lagrange’s equation. To prove the accuracy of the dynamic model, simulations of the chassis was conducted under ADAMS environment. Three series of comparisons showed that results between simulations and calculations were highly consistent. Both results showed that lifting the tilting side wheel-legs, shortening the other side legs, and steering to the tilting side could help prevent tilting of the chassis. Lifting the tilting side wheel-legs was proved to be more efficient than shortening that of the other sides. Average error of the change rates between simulations and calculations were 2.4%, 0.67%, and 2.75%.
Highlights
There has been a strong demand for the safety research of the harvester chassis operating on the uncertain surface
According to the different traveling mechanisms, harvester chassis can be classified into three types:[1] wheeled chassis, tracked chassis, and legged chassis
The wheel-legged type combines the advantages of both wheeled and legged chassis which is the most widely used in the uncertain surface now.[6,7,8,9]
Summary
There has been a strong demand for the safety research of the harvester chassis operating on the uncertain surface. Pv = mc Á RTij Á rotðx, ÀcÞ Á g Á Ei ð19Þ where g was the vector of gravity in the ground coordinate system, rotðx, ÀcÞ2was the rotation ma3trix of the tilting axis: rotðx, ÀcÞ = 4 0 cos c À sin c 5, and mc was 0 sin c cos c the mass of the whole chassis. During this process, three series of simulations were carried out. By the dynamic equation, the tilting angular velocity of the chassis during the process was achieved
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