Abstract
Three directional forces on tractor tires, the normal forces, lateral forces and thrusts, were measured during steady-state circular turning in a rice field. The tested tractors were a four-wheel drive, four-wheel steering (4WD-4WS) and a four-wheel drive, two-wheel steering (4WD-2WS) tractor. The measured forces were analyzed with the measured slip, side slip angle and the turning radius of the tractor center of gravity. The results were compared with the results derived from the same experiments on a paved road. It was then presented that a clear, tight corner braking phenomenon occurred in the case of the 2WS tractor, in spite of its turning radius being larger than that of the 4WS tractor. The lateral forces on the tires did not act to the inside of the turn either on the paved road or the rice field. Through analysis, it became clear that the 4WS system could supply a smoother and more efficient turn than the 2WS system.
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