• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
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• pp.146-153
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• 2000

The rubber crawler system for farm machine is composed of driving units such as track rollers, driving sprockets and rubber crawlers. Vibration characteristics of the rubber crawler system varies by driving speed, center of gravity, mass□moment of inertial□location arrangement of track rollers and dynamic parameters such as dynamic spring constant (k) and viscous damping coefficient (c) of a rubber crawler. In general, vibration of the rubber crawler system occurs by reason for mechanical interaction between the rubber crawler and track rollers. Because the dynamic spring constant and viscous damping coefficient vary periodically by mechanical characteristics(deformation characteristics) of the rubber crawler when track rollers drive on the between lugs of the rubber crawler. Therefore, both dynamic parameters k and c were expressed as Fourier series by authors through the shaking test of the rubber crawler and further, vibration characteristics of the rubber crawler system could be simulated analytically. However, actual values of dynamic parameters k and c are different from those obtained by the shaking test because dynamic characteristics of the rubber crawler vary by the effect of variable tension and driving resistance of track rollers. So, actual values of k and c should be identified in the condition of actual driving test. In this study, dynamic parameters such as k and c of the rubber crawler system, which are expressed as Fourier series, were identified using the Gauss-Newton Method. Therefore, validity of identified parameters k and c was discussed through the simulation using experimental data of actual driving test. As a result, in the Fourier series of dynamic parameters of spring constant k and viscous damping coefficient c, excellent parameter convergence and simulation were observed using the Fourier series' zero order and first term of the dynamic model. Furthermore, it was clarified that identification for model parameters which are fitted to actual dynamic motion (vibration) wave of the crawler system was possible by using the time series data observed in vertical and pitching motion of the crawler system.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.1202-1211
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• 1993

The authors propose in this research the equation to calculate the velocities, accelerations and penetration angles of the locus of lug motion for the rubber crawler mechanism. In these equations with some values of factors, motion characteristics of all points or faces of the lug in the front-half a rubber crawler. After that we also consider the reactionary force from the soil to the lug by computing the removed soil area for the purpose of understanding a relation between crawler lug and the soil in the terms of estimating trafficability.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
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• pp.139-145
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• 2000

The mechanism of the inner resistance in a rubber crawler system has been investigated to reduce the power requirement (Kitano et al. 1994). The rolling resistance of the track roller, which is one of the major inner resistances, was measured for seven different vertical loads. The rolling resistance changed periodically and could be classified into three types. In case of the vertical load less than 500N, the rolling resistance was almost constant. For the vertical load greater than 500N, the maximum value of the rolling resistance increased. Further more in case of the vertical load greater than 1200N, negative resistance appeared. Analytical simulation of the travel resistance based on experimental results and static equilibrium equations derived from three-dimension mechanical model for the rubber crawler system. It was found that the simulation method was carried out to evaluate the travel resistance occurred by the rolling resistance of the track roller. The rolling resistance for each track roller arrangement and effects of the lug phase in the right and left rubber crawler could be estimated quantitatively.

• Journal of Biosystems Engineering
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• 제38권4호
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• pp.240-247
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• 2013

Purpose: This study was conducted to develop a rubber-crawler type vehicle as a traveling device for harvesting water-dropwort cultivated in water contained paddy rice field in winter season. Methods: A commercial rubber-crawler type vehicle was used to investigate application of rubber crawler to the paddy rice field as preliminary test. As the result of the preliminary test, a both prototype traveling device with rubber crawlers for a water-dropwort harvest was designed with inclination of $45^{\circ}$ at the front-end and rear-end of crawler under the basic water depth of 0.6 m in the paddy rice field. The device was fabricated and attached to the experimental harvesting test devices on the front of the prototype vehicle. The size of the prototype crawler vehicle with a harvesting part is $2,800{\times}1,460{\times}1,040 $ (mm) ($L{\times}W{\times}H$) with weight of 9.21 kN (maximum). Sizes of the crawler of prototype vehicle are ground contact length of 900 mm, width of 180 mm, height of 1,070 mm and distance between center to center of crawlers of 720 mm. The side-overturn angle of the prototype was $26.4^{\circ}$. Results: Driving performance of the prototype vehicle in water contained paddy field were good at both forward and reverse (backward) directions as weights were applied. The drawbar pull and the maximum sinking depth of the prototype vehicle were 3.5 kN and 0.13 m respectively at water depth of 0.5 m, when the weight and bearing capacity of the prototype rubber crawler in the paddy field were 8.51 kN and 26.3 $kN/m^2$, respectively. Conclusions: Results of the driving test performance of the prototype crawler in paddy rice field at the water depth of 0.5 m were satisfactory. The prototype had enough drawbar pull and driving ability in the deep water contained paddy field.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.1196-1201
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• 1993

Test of Caterpillar Challenger 65 tractor which has rubber tracks, and articulated four wheel drive tractor with dual wheels and a mechanical front wheel drive tractor were conducted on an unplowed and plouwed wheat stubble field. The following parameters were analyzed : tractive efficiency (ηv), net tractive coefficient ($\phi$n), slip ($\sigma$) , drawbar pull(Fv), drawbar power (Pv) and forward velocity(v). The maximum net tractive coefficient was established at the tractive efficiency of 0.60 on the unplowed wheat stubble field : for the Challenger 65 tractor 0.855 ; 4WD 0.624 and MFWD 0.534 and on the plowed wheat stubble field with the tractive efficiency of 0.40 for the Challenger 65 tractor 0.82 : 4WD 0.57 and for tractor MFWD 0.48.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
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• pp.1186-1195
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• 1993

The Japanese type combine harvester has adopted rubber crawlers for the driving mechanism from first production . However, combine harvesters with movable track rollers in the rubber crawler system have been adopted recently for the purpose of stability at the time of climbing over the footpaths between rice fields, as the results of the machines becoming large. However, the dynamic characteristics of movable track rollers have not been clarified. For this reason, the design of movable track rollers depends on trial and errors. It is known that vibration characteristics of the vehicle with movable track rollers are different from the vibration characteristics of the vehicles with fixed track rollers even though the track roller arrangements are the same. Therefore, the theoretical analyses of movable track rollers must be hurried in order to formulate a reasonable track roller arrangement design. the authors have studied the vibration characteristics of the rubber crawler ve icle with fixed track rollers. in this study, the dynamic model of the vehicle with movable track roller sis compared with the dynamic model of the vehicle with fixed track rollers. Next, motions are simulated to analyze the movable track rollers by expanding the motion equation which were constructed for the dynamic model of the fixed track rollers.