农用四履带移动平台底盘设计与试验

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中图分类号：S219.032 文献标识码：A 文章编号：2095-5553（2026）02-0240-09

Abstract：Toaddresstheissuesof insufficientpassbilityofwheeled mobileplatformsonmuddygroundand the problem thatthedual-track chassis is proneto equipment damagedueto unstablecenterof gravity during obstaclecrossing，a new typeofagriculturalfour-track mobileplatformchassisisdesigned.Theproposedchasiscombinestheflexibilityof wheeledchassis whendrivingonflatroadswiththestableobstaclecrosingandhighloadcapacityofdual-trackchassis in complexterrins.Thechasisadoptsafourtrack walkingmechanismand incorporatesawidth-adjustable devicewitha 350mm adjustment range，whichcan flexibly adjust the width according to theoperational requirements of greenhouses andfields，therebyefectivelyenhancingtheplatform'sadaptabilitytodiferentenvironments.Adynamicmodelofobstacle crosing was established，and force analyses of the secondand fourth stagesof obstacle negotiation were conducted. Thre-dimensional modeling wasestablishedbyusing SolidWorks，andthe model wasimportedintothe RecurDyn platformto conduct multi-factor orthogonal experiments and multivariate regressonanalysis.Aregression equation for the obstacle-crossing driving force （ R2=0.915 ）was obtained，and on this basis，the prototype structural parameters were determined.A physical prototype was assembled and tested was conducted on speed，stering performanceand obstacle-crossing ability.The testresultsshowed that the tumingradiusrange ofthismobilechassvariedfrom 588.6mm to 735.6mm depending on the width adjustment. It could smoothly climb over vertical obstacles with a maximumheightof 171mm ，and the errors between the measured driving forces value and the simulated value were less than 6% .The speed test result is qualified.This agricultural four-track mobile platform chasis combines flexibility and passability，whichcanmeettheoperationalrequirementsof greenhousesand fields，providingareliablesupportfor the stable installation and automated application of agricultural information monitoring equipment.

Keywords：four-track mobile platform chassis；obstacle crossing；width-adjustable device；greenhouse and field

0 引言

农业信息监测分为传统的人工监测和自动化监测[1，2]。（剩余12968字）