Research on the Self- adaption All-Terrain Transportation Platform for Sprinkler Irrigation Operation

As an efficient and water-saving irrigation technology, sprinkler irrigation is widely used in northern China. To cope with the complicated and changeable environments of sprinkling irrigation and improve the environmental adaptability of the sprinkler irrigation transportation platform, an $8\times 8$ multi-wheel all-terrain sprinkler irrigation transportation platform was put forward. The platform adopts the arrangement of two sets of double cross arm independent suspensions at the front and rear and two sets of longitudinal swing arm independent suspensions in the middle. The combination of the suspension and the autonomous oil-gas spring makes the wheel jump up and down with a range of 220mm, which can realize the position adjustment of the transportation platform and improve the platform’s environmental adaptability to meet the needs of operations in different environments such as gentle slope terraces, undulating farmland, sloping roads, roadblocks, and trenches. According to the geometric relations, the suspension structure diagram of the transportation platform was established and the kinematic analysis calculation was conducted to realize the parameterization of the transportation platform. The operating conditions of the transportation platform were parameterized, the typical environments were extracted to establish simulated terrains, and software was applied to build a dynamic analysis model to simulate and verify the extreme obstacle crossing conditions of the transportation platform in typical environments, including crossing the limit vertical wall, resisting limit vertical slope of overturning, resisting limit horizontal slope of overturning, and limit width of crossing trench. Through theoretical analysis and simulation verification, it is concluded that the combination of structural layout and motion strategy can effectively improve the adaptability of the transportation platform.