Simulation Analysis and Testing of Tracked Universal Chassis Passability in Hilly Mountainous Orchards

Abstract

In the process of orchard mechanization, passability serves as a crucial criterion for evaluating the effectiveness of the chassis. To address the adaptability of hilly and mountainous multifunctional work machines to complex terrain, a theoretical analysis was conducted to assess the chassis’ performance under three key working conditions: climbing, crossing obstacles, and crossing trenches. Using kinematics, the theoretical maximum climbing angle, maximum obstacle height, and maximum trench width were calculated to be 35.8°, 170.4 mm, and 427 mm, respectively. Additionally, the passability of the chassis model was simulated under these working conditions in different soil environments using RecurDyn dynamics software. Post-processing techniques were employed to extract time characteristic curves for parameters such as center-of-mass velocity, pitch angle, offset, lateral inclination angle, and longitudinal displacement, providing valuable insights into how these parameters changed during chassis movement. The results revealed that the maximum gradient for slope climbing was 30°, the maximum height for obstacle crossing was 150 mm, and the maximum width for trench crossing was 400 mm. The prototype was then tested under these theoretical and simulated conditions in the field, and its ability to smoothly traverse slopes with a 35° angle in first gear, climb vertical obstacles up to a height of 200 mm, and pass through trenches with a width of 430 mm was demonstrated. The crawler chassis exhibited stable performance within the design parameters, aligning closely with the simulated and theoretical expectations. Overall, this study provides valuable theoretical insights for the structural design of multipurpose chassis suitable for orchards in hilly and mountainous regions.