Dynamic research and analysis for a wheel-legged harvester chassis during tilting process

This article aims to analyze the dynamic tilting characteristics of a four-wheel-legged harvester chassis. In order to achieve the pose and position of the chassis, kinematic model of a four-wheel-legged harvester chassis was established by the screw theory method. After analyzing the actual motion of the chassis during tilting process, dynamic tilting model of the wheel-legged articulated steering chassis was achieved based on the Lagrange’s equation. To prove the accuracy of the dynamic model, simulations of the chassis was conducted under ADAMS environment. Three series of comparisons showed that results between simulations and calculations were highly consistent. Both results showed that lifting the tilting side wheel-legs, shortening the other side legs, and steering to the tilting side could help prevent tilting of the chassis. Lifting the tilting side wheel-legs was proved to be more efficient than shortening that of the other sides. Average error of the change rates between simulations and calculations were 2.4%, 0.67%, and 2.75%.