Dynamic Analysis and Simulation for Bionic Power-assisted Legs of Hill Area Agricultural Machinery

摘要

According to a series of hill area issues, such as big steep gradients, small and disperse plots, agricultural machinery climbing restriction and so on, a new 2-DOF bionic power-assisted legs mechanism driven by hydraulic is proposed. This paper states the design principle of the bionic legs mechanism and its application in agricultural machinery. A dynamic model is used to show how the hind leg assisted agricultural machinery is established, and then deduce the dynamics equation, and solve the inverse dynamics problems. The result shows that agricultural machinery movement along slope is steady with the help of the hind leg, and driving force of hydraulic cylinder changes is slightly without any distinct impact to other devices, the actuated project is feasible and the structure design is reasonable, and it can be used to research on intelligent control of bionic legs and hill area agricultural machinery.