Analysis and Experimental Investigation of Steering Kinematics of Driven Steering Crawler Harvester Chassis
In the context of automatic driving, the analysis of the steering motion characteristics is critical for enhancing the efficiency of crawler harvesters. To address issues such as the low transmission efficiency and the large steering radius encountered by traditional crawler harvesters featuring hyd...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-12-01
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| Series: | Agriculture |
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| Online Access: | https://www.mdpi.com/2077-0472/14/1/65 |
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| author | Yanxin Wang Chengqian Jin Tengxiang Yang Tingen Wang Youliang Ni |
| author_facet | Yanxin Wang Chengqian Jin Tengxiang Yang Tingen Wang Youliang Ni |
| author_sort | Yanxin Wang |
| collection | DOAJ |
| description | In the context of automatic driving, the analysis of the steering motion characteristics is critical for enhancing the efficiency of crawler harvesters. To address issues such as the low transmission efficiency and the large steering radius encountered by traditional crawler harvesters featuring hydrostatic drives, a driven steering crawler harvester chassis was designed. This involved analysis of the chassis transmission system structure and its steering characteristics under several conditions, including differential steering, differential direction reversal, and unilateral braking steering. The steering parameters were determined based on real-time kinematic positioning–global navigation satellite system (RTK-GNSS) measurements, and they were compared with theoretical predictions based on the crawler harvester steering kinematics. The slip rates and modified models of the crawler chassis for various steering modes were then obtained. The results indicated that the increase in the ratio between the running input and steering input speeds led to larger track steering radii and smaller average rotational angular velocities. Remarkably, the slopes of the linear fits of the tracked chassis steering parameters varied significantly under differential direction reversal and differential steering modes. Compared with the actual results, the correlation coefficient of the tracked chassis steering parameters fitting model is close to 1. The steering parameter model was deemed suitable for actual operational requirements. The results provide a valuable reference for designing navigation and steering models of crawler harvesters operating on different road surfaces. |
| first_indexed | 2024-03-08T10:00:20Z |
| format | Article |
| id | doaj.art-ed3eb5882bfc4c76acd350f9325aaf55 |
| institution | Directory Open Access Journal |
| issn | 2077-0472 |
| language | English |
| last_indexed | 2024-03-08T10:00:20Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Agriculture |
| spelling | doaj.art-ed3eb5882bfc4c76acd350f9325aaf552024-01-29T13:39:33ZengMDPI AGAgriculture2077-04722023-12-011416510.3390/agriculture14010065Analysis and Experimental Investigation of Steering Kinematics of Driven Steering Crawler Harvester ChassisYanxin Wang0Chengqian Jin1Tengxiang Yang2Tingen Wang3Youliang Ni4School of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, ChinaSchool of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, ChinaNanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Areas, Nanjing 210014, ChinaSchool of Agricultural Engineering and Food Science, Shandong University of Technology, Zibo 255000, ChinaNanjing Institute of Agricultural Mechanization, Ministry of Agriculture and Rural Areas, Nanjing 210014, ChinaIn the context of automatic driving, the analysis of the steering motion characteristics is critical for enhancing the efficiency of crawler harvesters. To address issues such as the low transmission efficiency and the large steering radius encountered by traditional crawler harvesters featuring hydrostatic drives, a driven steering crawler harvester chassis was designed. This involved analysis of the chassis transmission system structure and its steering characteristics under several conditions, including differential steering, differential direction reversal, and unilateral braking steering. The steering parameters were determined based on real-time kinematic positioning–global navigation satellite system (RTK-GNSS) measurements, and they were compared with theoretical predictions based on the crawler harvester steering kinematics. The slip rates and modified models of the crawler chassis for various steering modes were then obtained. The results indicated that the increase in the ratio between the running input and steering input speeds led to larger track steering radii and smaller average rotational angular velocities. Remarkably, the slopes of the linear fits of the tracked chassis steering parameters varied significantly under differential direction reversal and differential steering modes. Compared with the actual results, the correlation coefficient of the tracked chassis steering parameters fitting model is close to 1. The steering parameter model was deemed suitable for actual operational requirements. The results provide a valuable reference for designing navigation and steering models of crawler harvesters operating on different road surfaces.https://www.mdpi.com/2077-0472/14/1/65crawler harvestersteering modekinematicssteering parametersslip rate |
| spellingShingle | Yanxin Wang Chengqian Jin Tengxiang Yang Tingen Wang Youliang Ni Analysis and Experimental Investigation of Steering Kinematics of Driven Steering Crawler Harvester Chassis Agriculture crawler harvester steering mode kinematics steering parameters slip rate |
| title | Analysis and Experimental Investigation of Steering Kinematics of Driven Steering Crawler Harvester Chassis |
| title_full | Analysis and Experimental Investigation of Steering Kinematics of Driven Steering Crawler Harvester Chassis |
| title_fullStr | Analysis and Experimental Investigation of Steering Kinematics of Driven Steering Crawler Harvester Chassis |
| title_full_unstemmed | Analysis and Experimental Investigation of Steering Kinematics of Driven Steering Crawler Harvester Chassis |
| title_short | Analysis and Experimental Investigation of Steering Kinematics of Driven Steering Crawler Harvester Chassis |
| title_sort | analysis and experimental investigation of steering kinematics of driven steering crawler harvester chassis |
| topic | crawler harvester steering mode kinematics steering parameters slip rate |
| url | https://www.mdpi.com/2077-0472/14/1/65 |
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