Method for the posture control of bionic mechanical wheel-legged vehicles in hilly and mountainous areas  

作　　者：Kaoxin Pan Qing Zhang Zhenyu Wang Sibo Wang Aobo Zhou Yong You Decheng Wang 

机构地区：[1]Key Laboratory of Modern Agricultural Intelligent Equipment in South China,Ministry of Agriculture and Rural Affairs,Guangzhou 510630,China [2]College of Engineering,China Agricultural University,Beijing 100083,China

出　　处：《International Journal of Agricultural and Biological Engineering》2024年第5期151-162,共12页国际农业与生物工程学报（英文）

基　　金：supported by the Key Laboratory of Modern Agricultural Intelligent Equipment in South China,Ministry of Agriculture and Rural Affairs,China.

摘　　要：In response to the weaknesses of traditional agricultural equipment chassis with poor environmental adaptability and inferior mobility, a novel unmanned agricultural machinery chassis has been developed that can operate stably and efficiently under various complex terrain conditions. Initially, a new wheel-legged structure was designed by drawing inspiration from the motion principles of grasshopper hind legs and combining them with pneumatic-hydraulic linkage mechanisms. Kinematic analysis was conducted on this wheel-legged configuration by utilizing the D-H parameter method, which revealed that its end effector has a travel range of 0-450 mm in the X-direction, 0-840 mm in the Y-direction, and 0-770 mm in the Z-direction, thereby providing the structural foundation for features such as independent four-wheel steering, adjustable wheel track, automatic vehicle body elevation adjustment, and maintaining a level body posture on different slopes. Subsequently, theoretical analysis and structural parameter calculations were completed to design each subsystem of the unmanned chassis. Further, kinematic analysis of the wheel-legged unmanned chassis was carried out using RecurDyn, which substantiated the feasibility of achieving functions like slope leveling and autonomous obstacle negotiation. An omnidirectional leveling control system was also established, taking into account factors such as pitch angle, roll angle, virtual leg deployment, and center of gravity height. Joint simulations using Adams and Matlab were performed on the wheel-legged unmanned chassis, comparing its leveling performance with that of a PID control system. The results indicated that the maximum absolute value of leveling error was 1.08° for the pitch angle and 1.19° for the roll angle, while the standard deviations were 0.216 47° for the pitch angle and 0.176 22° for the roll angle, demonstrating that the wheel-legged unmanned chassis surpassed the PID control system in leveling performance, thus validating the correctness and feasibility

关 键 词：hilly areas bionic machinery wheel-legged vehicle posture control prototype testing 

分 类 号：S22[农业科学—农业机械化工程]