数字农科院2.0

Design and Performance Testing of a Motorized Machine-Mounted Self-Leveling Platform for Hilly Orchards

文献类型： 外文期刊

作者： Guangyu Xue;Haiyang Liu;Gongpu Wang;Yanyan Shi;Haiyang Shen;Zhou Zhou;Zihan Huan;Wenqin Ding;Lianglong Hu

作者机构：

关键词： 3-RRS parallel mechanism;crank–rocker leg;hill orchard;self-leveling platform;stability control

期刊名称： Agriculture (Switzerland)

ISSN：

年卷期： 2025 年 15 卷 23 期

页码：

收录情况： SCIE（2025版）

摘要： To address issues such as attitude instability, insufficient adaptability, and poor operational quality of precision operation equipment caused by complex terrain conditions in hilly orchards, this study designed an electric carrier Self-Leveling Platform based on the 3-RRS parallel configuration. Focusing on the stability requirements of the operation plane, an automatic leveling control strategy was proposed with the constant center height of the moving platform as an additional constraint condition. Based on the inverse kinematics solution of the 3-RRS Parallel Mechanism, the analytical mapping relationship between the fuselage attitude and the compensation angle of the leveling leg crank was derived, and based on this, the working space of the Self-Leveling Platform and the maximum compensation angles of the moving platform in the pitch and roll directions were calculated. Key structural parameters were optimized using a multi-objective genetic algorithm, followed by the completion of a 3D model design and modal simulation analysis to verify the effectiveness of the structural design. Finally, leveling performance tests were conducted on a prototype. The results showed that the platform can achieve omnidirectional automatic leveling, with a maximum leveling time of 1.593 s and a maximum steady-state error of 0.62° under typical slope and load conditions. Analysis of variance results further indicated that there are significant differences in the leveling performance of the 3-RRS parallel configuration of the Self-Leveling Platform in the pitch and roll directions, demonstrating anisotropic characteristics. This study provides an effective solution for attitude stability control of orchard operation equipment in hilly areas and offers theoretical reference and technical support for the application of the 3-RRS parallel configuration in the agricultural equipment field.

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