Design and test of agricultural machinery crawler chassis with omnidirectional attitude adjustment

In order to meet the walking and operation requirements of agricultural machinery on hilly and complex terrain, the all-directional position and pose adjustment of agricultural machinery track chassis was designed. The theoretical analysis and three-dimensional parametric modeling methods were used to design and analyze the key components of the chassis, such as the walking system, transverse and longitudinal adjustment mechanism and so on. The electro-hydraulic attitude adjustment control system collected the information of transverse and longitudinal roll angle and the displacement of the hydraulic cylinder of each attitude adjustment in real time, so as to achieve the realization on the slope with continuous change of inclination angle.Chassis body horizontal and longitudinal attitude were continuously adjusted to the horizontal. In order to verify the performance of the chassis, different road conditions and plots were used as test sites to repeatedly test the vehicle′s passability and stability.The results showed that the Angle error of slope leveling of the attitude adjustment mechanism was ≤±1. 5°, the Angle of transverse attitude adjustment was ≤15°, and the angle of longitudinal attitude adjustment was ≥30°. This study can provide reference and technical support for the further transformation of mechanized operation in hilly and mountainous areas.