An approach to characterization of the agricultural self-propelled machines stability |
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| Institution: | 1. University of Belgrade, Faculty of Agriculture, Nemanjina 6, 11081 Zemun-Belgrade, P. O. Box 127, Serbia;2. University of Belgrade, Faculty of Mechanical Engineering, The Queen Marija street 16, 11000 Belgrade, Serbia;1. Department of Metallurgical and Materials Engineering, Indian Institute of Technology Roorkee, Roorkee 247667, Uttarakhand, India;2. Department of Materials Engineering, Indian Institute of Science, Bengaluru 560012, India;3. Department of Materials Science and Engineering, North Carolina State University, Raleigh, NC 27606, USA;1. Servicio de Apoyo a la Investigación Tecnológica, Universidad Politécnica de Cartagena, Plaza del Hospital s/n, 30202 Cartagena, Spain;2. Dpto. de Ingeniería de Alimentos y del Equipamiento Agrícola, Universidad Politécnica de Cartagena, Paseo Alfonso XIII, 48, 30203 Cartagena, Spain;3. Dpto. de Ingeniería Química y Ambiental, Universidad Politécnica de Cartagena, Paseo Alfonso XIII, 52, 30203 Cartagena, Spain |
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| Abstract: | This paper presents an analytical algorithm with appropriate software specified for the approximation of the allowed critical slope of the solid flat terrain that guarantees static and/or dynamic stability of the specified self-propelled agricultural machines and their aggregates. This algorithm assumes machine as a rigid body, having 3 or 4 contact points (defined by wheels or crawlers), under uniform motion at different constant velocities and radii of curvature trajectories. Using this algorithm, based on the principles of theoretical mechanics combined with 3D analytical geometry, the computer program SSPM (stability of the self-propelled agricultural machines) has been coded. This software is intended to facilitate the analysis, comparison and optimization of different configurations of self-propelled agricultural machines in operation on horizontal and sloped flat terrains at constant velocities and radii of trajectory with respect to their static and dynamic stability. It calculates critical pitch and roll angles of the self-propelled machine and the maximum allowed slope of the flat terrain under the given conditions. The algorithm and the appropriate SSPM software were experimentally verified using the platform and low-scale tractor model. Average difference between calculated and experimental critical values of roll and pitch angles were about 4° |
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| Keywords: | Mechanics Tractor Stable motion Spatial analytical geometry |
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