MULTIBODY DYNAMICS SIMULATION AND TESTING OF A SMALL ELECTRONICALLY CONTROLLED TRACKED CHASSIS FOR HILLY AND MOUNTAINOUS TERRAIN

Abstract

To meet the maneuverability and terrain-adaptability requirements of agricultural machinery operating in hilly and mountainous areas, an electronically controlled tracked chassis was designed and developed. Based on a theoretical analysis of chassis terrain-crossing capability and stability, a multibody dynamic model was established using RecurDyn to simulate the dynamic response of the chassis under typical operating conditions. The chassis trajectory and variations in dynamic stability were analyzed. A physical prototype was then manufactured and tested under multiple operating conditions on actual road surfaces. The chassis achieved a maximum straight-line travel speed of 4 km/h on level ground, a maximum uphill and downhill travel speed of 2 km/h, a maximum climbing angle of 18°, a maximum trench-crossing width of 500 mm, and a turning radius not exceeding 675 mm. The simulation and experimental results were in close agreement, with a maximum relative error of 11%, demonstrating the predictive accuracy of the multibody dynamic model. The developed chassis exhibited good terrain-crossing capability and operational stability. This study provides a theoretical basis and technical support for the development and application of small agricultural machinery in hilly and mountainous areas.