Study Of A Universal Seeding Robot Chassis For Strip Compound Planting

In China’s hilly and mountainous regions,the corn-soybean strip compound planting model is vigorously promoted,but its mechanized seeding process still has the following issues:due to the abundant rainfall in the hilly and mountainous areas of the southwest,problems like high self-weight-related land subsidence,difficult turning on narrow terrain,and crop crushing during turning are frequently happened when using a tractor for sowing operations.According to the aforementioned circumstances,this article uses the corn-soybean strip compound planting mode in hilly and mountainous areas as the application scenario,adopts modular design principle to design a four-wheel independent drive and steering electric control universal seeding robot chassis,and verifies the dependability and good driving operation performance of the seeding robot chassis structure design through ride smoothness simulation and field tests.The main research contents are as follows:(1)Structural design of the universal seeding robot chassis.According to the topographical features of hilly areas and the agronomic requirements of the strip compound planting mode,the chassis configuration scheme was analyzed and built,and a four-wheel independently drive and steering seeding robot chassis was designed and constructed.The choice of drive and steering motors,as well as the design and choice of other chassis systems,were made using the modular design concept and a combination of the drive and steering theories;The seeding robot chassis’driving behavior in hilly terrain was examined,and the verification outcomes demonstrated that it had good driving stability.(2)Kinematics analysis of the seeding robot chassis.The seeding robot chassis’kinematic constraints and models are established,and theoretical calculations are used to determine the kinematic relationships between each wheel’s rotational speed and angle under common motion modes;The optimal posture strategy of the seeding robot chassis under different working modes was formulated.Based on this,the chassis control system of the seeding robot was designed,divided into upper and lower machine module structures,and hardware selection was done;Based on the demands for motion control,a user interface for human-machine interaction was created;Based on the kinematics theory,the chassis communication and control codes are written,and the overall construction of the chassis of the seeding robot is finally completed.(3)Ride smoothness simulation of the seeding robot chassis.Combined with the filtered white noise method,road-based random excitation is constructed.Based on MATLAB/Simulink,the ride smoothness simulation algorithm is given and the simulation program is built.The vertical acceleration range of the seeding robot chassis is-1.9～1.7m/s~2,which conforms to the excellent ride smoothness index.At the same time,the fluctuations in centroid displacement,chassis pitch angle,and front and rear suspension dynamic deflection also meet ride smoothness requirements and sowing agronomic requirements.An optimization plan for chassis dynamics parameters to improve the smoothness of the seeding robot chassis was obtained by adjusting the kinematic parameters such as suspension stiffness and damping coefficient.(4)Production and testing of prototypes.The stability of the seeding robot chassis is confirmed through quantitative analysis of pulse speed,field driving,pass ability,and smoothness performance tests.It has a high degree of driving straightness,flexible steering,and good field pass ability,meeting the seeding agronomic requirements of the strip compound planting mode in hilly and mountainous areas.