Abstract:Aiming to effectively overcome the difficulty in plant protection robot operation with rollover and insufficient steering space when driving in furrows located field at the south of Anhui Province. Taking stability and steering sensitivity of the wheeled tobacco plant protection mobile platform into consideration, by analyzing and adjusting the transmission system and steering system of the mobile platform, a wheeled mobile platform for driving and operating in tobacco fields was designed. The simulation software RecurDyn/Track was used to build the dynamics and kinematics models, and the mobile platform was optimally upgraded and designed in terms of mobility and steering performance. The robot was tested in the field with high furrow to verify the simulation results. The results showed that these simulated models can turn around at the radius of 0.8m;the deviation was less than 3° when it was under straightwalking condition. And the optimum operating speed reached 1.0m/s through simulation analysis by comparing the motion stability at different moving speeds. All these numbers proved that the modelling robots were high in steering sensitivity and stability. Through the field experiment, the steering sensitivity of these modelling robots can meet the needs of tobacco fields in the south of Anhui Province. Furthermore, the inertial navigation device was used to test the deviation of the robots’ walking angle and the walking stability between the ridges. The largest tilting angle was 14.38° when the mobile plant protection machine operation speed was 1.0m/s. The research developed the design of mobile platforms in managing the high-ridge farmlands both in theory and technology.
