Tilting stability analysis and experiment of the 3-DOF lifting platform for hilly orchards

Zhenhua Duan, Wei Qiu, Weimin Ding, Yande Liu, Yuping Ouyang, Liang Huang

Abstract


An orchard-lifting platform is a type of mechanical equipment to assist growers in fruit picking, fruit tree pruning, flower thinning, and other operations. In its operational processes, the tilting stability directly affects the operational safety and adaptability under complex terrain conditions, while critical tilting angle is an important criterion to evaluate the tilting stability. Based on the structure and the operating characteristics of the three degree of freedom (3-DOF ) lifting platform for hilly orchards, the tilting stability was analyzed in different parked states, and the theoretical expressions of critical tilting angle were obtained; in the theoretical expressions, the influencing factors on tilting stability were determined as the parked position β1, the manned worktable rotary position β2, the lifting height h, and the load m. Based on the multi-body dynamics principle, the tilting stability simulation was carried out. The relative error of tilting angles was approximately 4.6% between simulation and tilting verification experiment, which indicated that the results of tilting stability simulation were reliable. Therefore, the multi-body dynamics simulation was used for further clarifying the influencing factors on tilting stability. A virtual orthogonal test was designed, and the results showed that critical tilting angle ranged from 20° to 44° when the factors were at different values, which indicated that the 3-DOF lifting platform for hilly orchards had a high tilting stability performance and could adapt to the operating conditions of hills with slope angles from 5° to 20°. The results of the range analysis and ANOVA showed that the influence intensity of factors on tilting stability was β1 > h > m > β2; at the same time, β1, h, and m exerted significant effect on tilting stability. The tilting stability first decreased and then either increased or decreased with the increasing lifting height; it gradually decreased with the increasing load. It also showed that the position of the manned worktable along the slope down always had the lowest tilting stability. This research can provide a theoretical basis and reference for the analysis of tilting stability of the lifting machinery for hilly orchards.
Keywords: orchard-lifting platform, hills areas, tiling stability, influencing factors, analysis and experiment
DOI: 10.25165/j.ijabe.20181106.3523

Citation: Duan Z H, Qiu W, Ding W M, Liu Y D, Ouyang Y P, et al. Tilting stability analysis and experiment of the 3-DOF lifting platform for hilly orchards. Int J Agric & Biol Eng, 2018; 11(6): 73–80.

Keywords


orchard-lifting platform, hills areas, tiling stability, influencing factors, analysis and experiment

Full Text:

PDF

References


Fan G J, Wang Y Z, Zhang X H, Zhao J Y, Song Y P. Design and experiment of automatic leveling control system for orchards lifting platform. Transactions of the CSAE, 2017; 33(11): 38-46. (in Chinese)

Charles M F, Adrian K L. Rollover risk of cars and light trucks after accounting for driver and environmental factors. Accident Analysis and Prevention, 2002(34): 163–173.

Eger R, Kiencke U. Modeling of rollover sequences. Control Engineering Practice, 2003; 11(2): 209– 216.

Xiao J, Lei Y C, Zhang P, Tang T J, Bai B. Analysis of the maximum static stable roll angle of the vehicle and the sensitivity of the main influence factor. Manufacture Information Engineering of China, 2006; 35(11): 64–67. (in Chinese)

Jin Z L, Weng J S, Hu H Y. Rollover stability of a vehicle during critical driving manoeuvres. Proceedings of the Institution of Mechanical Engineers, 2007; 221(9): 1041–1049.

Maclenman P A, Marshall T, Griffin R. Vehicle rollover risk and electronic stability control systems. Injury prevention, 2008; 14(3): 154–158.

Wu X Y, Ge X H, Luo S Y, Hang H W. Study on stability of rollover of vehicle. Journal of Xiamen University: Natural Science, 2010; 49(6): 815–818. (in Chinese)

Gaspar P, Szaszi I, Bokor J. The design of a combined control structure to prevent the rollover of heavy vehicles. European Journal of Control, 2004; 10(2): 148–162.

Péter G, István S, József B. Two Strategies for reducing the rollover risk of heavy vehicles. Erbarzt, 2005; 33(1): 139–147.

Gaspar P, Szaszi I, Bokor J. Reconfigurable control structure to prevent the rollover of heavy vehicles. Control Engineering Practice, 2005; 13(6): 699–711.

Tankut A. Rollover prevention for heavy trucks using frequency shaped sliding mode control. Vehicle System Dynamics, 2006; 44(10): 737–762.

Zhao D X, Cheng Y S, Zhu W N, Zhang Z D. The dynamical solution on stability of articulated tractor overturning. Transactions of the CSAM, 1995; 26(3): 1–4. (in Chinese)

Gravalos I, Gialamas T, Loutridis S, Moshou D, Kateris D, Xyradakis P, et al. An experimental study on the impact of the rear track width on the stability of agricultural tractors using a test bench. Journal of Terramechanics, 2011; 48(4): 319–323.

Serap G, Eugenio C. Perceptions of tilt angles of an agricultural tractor. Journal of Agromedicine, 2014; 19(1): 5–14.

Zhu Y Q, Hong T S, Wu W B, Song S R, Li Z, Mo W B. Design and simulation of side rollover resistant capability of tracked vehicle for mountain orchards. Transactions of the CSAM, 2012; 43(Supp.1): 19–23. (in Chinese)

Bruno F, Roland L, Valda R. Comparison between a rollover tractor dynamic model and actual lateral tests. Biosystems Engineering, 2014; 127:79–91.

Liu N, Sun H W, Chen X Z, Liu R, Zhou X. Research on the rollover stability of 4YZP-2 corn harvester. Journal of Chinese Agricultural Mechanization, 2014; 35(6): 38–41. (in Chinese)

Du Y F. Design Method and Experimental research on self-propelled corn harvester for hilly and mountainous region. Beijing: China Agricultural University, 2014, 5. (in Chinese)

Ma L N, Du Y F, Song Z H, Mao E R. Mathematical Modeling and Experiment of Corn Harvester Quasi-static Lateral Stability. Transactions of the CSAM, 2016; 47(7): 89–95. (in Chinese)

[20] Maurizio C, Massimo B, Carlo B, Stefano M. A study of the lateral stability of self-propelled fruit harvesters. Agriculture, 2017; 7(11): 1-13.

Liu X N, Zhu H T, Ba H T. Development of a Faun LG1 type multifunctional orchard operating machine. Xinjiang Agricultural Mechanization, 2009; 2(1): 42–44. (in Chinese)

Masao N. Development and improvement of mobile work platform for use in apple orchards. Japanese Journal of Farm Work Research, 2006; 41(2): 68–73.

Liu D W, Xie F P, Li X, Wang X L. Design and experiment of small lifting platform in orchard. Transactions of the CSAE, 2015; 31(3): 113–121. (in Chinese)

Gokhan B, Marcel B, Koku A B, Konukseven E. Localization and control of an autonomous orchard vehicle. Computers and Electronics in Agriculture, 2015(115): 118–128.

Du Y F, Mao E R, Song Z H, Zhu Z X, Gao J M. Simulation on corn plants in harvester process based on ADAMS. Transactions of the CSAM, 2012; 43(supp.1): 106–111. (in Chinese)

Bauer G, Springholz G. Dynamic simulation and analysis of a new type of hydraulic fork lifting platform based on Recurdyn. Machine Tool & Hydraulics, 2015, 1: 96–100.

Liu N. Research on the rollover stability of 4YZP-2 corn harvester. Taiyuan: Taiyuan University of Technology, 2014.6. (in Chinese)

Zhang J W, Peng B B. Multi-body system optimization simulation technology for recurdyn. Beijing: Tsinghua University Press, 2010; pp: 176–180. (in Chinese)

Lu J Q, Yang Y, Li Z H, Shang Q Q, Li J C, Liu Z Y. Design and experiment of an air-suction potato seed metering device. Int J Agric & Biol Eng, 2016; 9(5): 33–42.

Zhao X M. Test design method. Beijing: Science Press, 2006; pp: 66–78. (in Chinese)




Copyright (c) 2018 International Journal of Agricultural and Biological Engineering



2023-2026 Copyright IJABE Editing and Publishing Office