Authors

Abstract

This study addresses the inefficiency, high crop damage, and poor adaptability of traditional cornfield weeding machinery. A High-Clearance Inter-Row Weeding Robot Chassis was developed and tested through simulations and experiments. With a refined suspension and floating wheels, it achieves 800 mm ground clearance for dual-row weeding. Simulations show maximum chassis stresses of 124.7 MPa and 134.88 MPa under sharp turns and braking. Stability assessments indicate theoretical climb angles of 26.5° longitudinally and 35° transversely, with experimental test results of 22° and 32°, respectively. The robot operates at speeds exceeding 0.8 m/s, overcomes obstacles of up to 370 mm, and traverses trenches narrower than 350 mm or wider than 600 mm. Results confirm its stability, obstacle-crossing ability, and precision, offering a viable solution for intelligent weeding in complex fields.

Abstract in Chinese

本研究针对传统玉米田除草机械存在的低效率、高作物损伤率和适应性差等问题，研制并测试了一种高离地间隙的行间除草机器人底盘。通过设计浮动轮悬架结构，该底盘实现了 800 mm 的离地间隙，可用于双行除草。仿真结果表明，在急转弯和制动工况下，底盘的最大应力分别为 124.7 MPa 和 134.88 MPa。稳定性评估显示，理论纵向爬坡角为 26.5°，横向爬坡角为 35°，实际测试结果分别为 22° 和 32°。机器人运行速度大于 0.8 m/s，可跨越 37 cm 高的障碍物，并可通过宽度小于 35 cm 或大于 60 cm 的沟渠。结果表明，该机器人具备较高的稳定性、优异的越障能力和精确的作业性能，为复杂农田环境下的智能除草提供了一种可行方案。