• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 2000년도 THE THIRD INTERNATIONAL CONFERENCE ON AGRICULTURAL MACHINERY ENGINEERING. V.II
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• pp.154-161
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• 2000

A series of soil bin experiment was carried to investigate the effects of rotary blade shape, rotational direction of rotary blade, number of blade and soil cutting disk blade on the characteristics of partial tillage. Among the three types of rotary blades, rotary blade for cultivator was considered to be proper for partial tillage of direct seeder considering the torque requirements and ratio of soil breaking. There is no need to attach so many blades to the rotary shaft. Four rotary blades were enough for efficient partial tillage by rotary tiller. Though soil cutting disk blade assisted the better formation of seedbed furrow, attachment of the soil cutting disk blade increased torque requirements.

• Journal of Biosystems Engineering
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• 제37권5호
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• pp.279-286
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• 2012

Purpose: This study has been conducted to investigate the applicability of motion analysis of tillage blade for estimation of tillage characteristics of crank-type and rotary-type rotavators. Methods: The interrelation between tillage traces from motion analysis and field test results including rotavating depth, pulverizing ratio and inversion ratio at the same work conditions were analyzed for both crank-type and rotary-type rotavators. The work conditions include working speed of prime mover tractor and PTO speed of rotavators. For the motion analysis, joint conditions of main connecting component were specified considering the actual working mechanism of rotavator. Results: There were important correlations for the trend between motion analysis and field test results. Conclusions: Although further study is needed for applying motion analysis to estimate the accurate tillage related parameters such as rotavating depth, the soil pulverizing ratio and inversion ratio, it could be used to compare the tillage characteristics of various rotavators quickly and simply.

• Journal of Biosystems Engineering
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• 제25권5호
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• pp.369-378
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• 2000

The purpose of this study is to developed high-efficient rotary tillage system for a power tiller by improving the rotary blade. A kind of the rotary blade with single-edged blade(DS) was developed that requires lower tillage energy than conventional double-edged blade(CD) on the design theory for Japanese rotary blade. In order to find out the tillage characteristics between the single-edged blade and the double-edged blade for power tiller, experiments were performed in soil-bins which were filled up clay loam, loam and sandy loam, and then analyzed the effects of the factors such as soil texture, travelling speed, rotational speed, and tillage depth to each of the blades. And field tests were carried out to compare tillage performances of the two blades using rotary cultivator driven by conventional power tiller. The results of this study were summarized as follows; 1) On the soil bin experiment, it was found that tillage torque of the single-edged blade was less than the ones of the double-edged blade. The decreasing ratios of maximum tillage torque of the single-edged blade to the ones of the double-edged blade were 1 to 8% at clay loam, 5 to 20% at loam and 9 to 31% at sandy loam, respectively. 2) By the field tests, that the tillage performances with the single-edged blade compared with the double-edged blade was improved about 19% in field capacity, about 34% in fuel consumption, and 12.5% in soil breaking ratio. Furthermore, the fluctuation of engine speed, the variation of exhaust gas temperature, and the amount of soil clogging on the blade and straw wound on the rotary shaft showed lower values with the developed blade than the conventional blade. So, it may be concluded that tillage performance by the developed single-edged blade was improved compared with the one by the conventional double-edged blade.

• Journal of Biosystems Engineering
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• 제8권2호
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• pp.1-10
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• 1983

The resulting characteristics of vibrations show different patterns for the various oscillating mechanisms. These vibrations causes troublesome operation problems for the operators and sometimes for the machines. Furthermore, in some cases the practical usage of this oscillating mechanism is constrained by its mechanical conditions. In this study, a balanced oscillating tillage tool with triple blades having different acting area was designed. The horizontal and vertical oscillating accelerations and draft power requirement due to the various travel speeds, lift angles, amplitudes and oscillating frequencies were investigated in a laboratory soil bin with a soil having invariable properties. The results obtained are summarized as follows: 1. Overall, the horizontal acceleration decreased as the oscillating frequency and amplitude decreased. But the increase in travel speed caused the decrease horizontal acceleration. The blade with the lift angle of $30^{\circ}$ exhibited the lowest value of horizontal acceleration among the blades tested. 2. For the vertical acceleration, the fluctuating trend of oscillating acceleration was similar to the trend of the horizontal acceleration. 3. The draft power requirement decreased as the amplitude and oscillating frequency increased. But the increase in travel speed caused the increase in draft power requirement. The blade with the lift angle of $10^{\circ}$ showed the lowest value of draft power requirement among the blades tested.

• Journal of Biosystems Engineering
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• 제22권4호
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• pp.391-400
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• 1997

Using the soil bin systems, this study was carried out to investigate the tilling load characteristic for the three kinds of Japanese rotary blade and the possibility of common use for power tiller and tractor rotary. The results obtained from the study are summarized as follows : 1. At all tested soils. the average and maximum tilling torque of all tested blades increased as the tillage pitch did. 2. The torque requirements of newly designed and produced blade was less than that of blade which has been used on power tiller and tractor rotary. 3. The maximum tilling torque of new ONE were decreased 7%, 10~11％, 27% in comparing with another blades at clay loam, loam and sandy loam, respectively. 4. According to observation of the extent of soil adhesion on blade and the contact aspect of blade, new ONE is the most excellent of all tested rotary blades and till smoothly not to compress the untilled soil. From the results of this study. the newly developed blade(new ONE) proved to be good tilling load performance and had a conclusion that it is possible to use it on power tiller and tractor rotary in common.

• Journal of Biosystems Engineering
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• 제18권4호
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• pp.344-350
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• 1993

The purpose of this study is to develop design equations to calculate optimum specifications and dimensions such as weight, engine horsepower, etc. of the tractor necessary to perform stable rotary tillage. The main results of this study are as follows. 1. A wheel-lug ought to receive a special resistance in downward direction which resists the lug's upward motion on wet sticky soil surface. The authors introduce a new academic name of the "lift resistance(上昇抵抗力, 상승저항력)" for such a force which resists retraction of a wheel lug from the soil in the upward trochoidal motion. This force is composed of the frictional force acting on the trailing and the leading lug side, and the "perpendicular adhesion(鉛直付着力, 연직부착력)" acting on the lug face and the undertread face on adhesive soil. 2. The "lift resistance ratio(上昇抵抗力係數, 상승저항력계수)" and the "perpendicular adhesion ratio(鉛直付着力係數, 연직부착력계수)" were defined, which are something similar to the definition of the motion resistance ratio, the traction coefficient, etc. 3. The design equation of the optimum weight of a rotary tiller mounted on the tractor derived by calaulating the forces acting on the rotary blades. 4. The design equations to calculate optimum specifications and dimensions such as weight, engine horsepower, etc. of the tractor necessary to perform stable rotary tillage were derived. It becomes clear that the optimum weight of a rotary tiller and a tractor can be estimated in planning design by means of putting about 21 design factors of the target into the equation. These equations are useful for planning design to estimate the optimum dimensions and specifications of a rotary tiller as well as a tractor by the use of known and/or unknown design parameters.

• Journal of Biosystems Engineering
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• 제9권2호
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• pp.37-47
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• 1984

Using the soil bin systems, this study was carried out to analyze the effects of the angular and tilling speed of the rotary shaft with the edge curves which were $30^{\circ}$ and $40^{\circ}$, and the edged blade which were single and double, on the torque requirement of rotary tillage. In the analyses, we developed the mathematical models for the torque requirments of rotary tillage, and analyzed the optimum conditions of each variable for the minimum tillage torque requriements. The results of the study were summarized as follows. 1. The required tilling torque by one rotary blade has the minimum value when the tilling speed of the rotary blade was low, and the revolution of the rotary blade was fast, in general. 2. The torque requirements of single edged blade was decreased to about 81% in comparing with that of double edged blade of which the edge curved angle was $40^{\circ}$ and the tilling speed was 29.40 cm/sec. But, for the mean values, the maximum torque requirements were decreased to 45%, and the mean torque requirements were decreased to 35%. 3. For the edge curved angle, the torque requirements of ${\theta}=40^{\circ}$ were 48% more than that of ${\theta}=30^{\circ}$ in the maximum tilling torque in case that the rotary blade were double edged blade. but, there was not a difference when the rotary blades were single edged blade. The mean tilling torques of ${\theta}=40^{\circ}$ were 6% more when the rotary blade was double edged blade, and were 11% less at single edged blade, than that of ${\theta}=30^{\circ}$. 4. In order to reduce the torque requirements for tilling, the optimum revolutions of the rotary shaft were analyzed as that 204-240 rpm for the double edged blade and 280-320 rpm for the single edged blade.

• 로봇학회논문지
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• 제15권3호
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• pp.233-239
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• 2020

The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop a controller for autonomous agricultural robot that transforming their dynamic characteristics by installation of machine modules. So we develop for the model based control algorithm of rotary machine connected to agricultural robot. Autonomous control algorithm of agricultural robot consists of the path control, velocity control, orientation control. To verify the developed algorithm, we used to analytical techniques that have the advantage of reducing development time and risks. The model is formulated based on the multibody dynamics methods for high accuracy. Their model parameters get from the design parameter and real constructed data. Then we developed the co-simulation that is combined between the multibody dynamics model and control model using the ADAMS and Matlab simulink programs. Using the developed model, we carried out various dynamics simulation in the several rotation speed of blades.

• 농업과학연구
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• 제11권1호
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• pp.160-175
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• 1984

로우터리 경운(耕耘)날의 회전속도(回轉速度) 및 작업속도(作業速度)가 경운소요(耕耘所要)토오크에 미치는 영향을 분석(分析)하기 위(爲)하여, 형상각(形狀角) ${\theta}=30^{\circ}$, $40^{\circ}$인 2종(種)의 경운(耕耘)날로 로우터리축(軸)을 204, 243, 285, 360rpm 4단계로, 전진속도(前進速度)는 29.40cm/s, 46.93cm/s로 변화(變化)시키면서 인공토양조(人工土壤槽)에서 dynamic strain gage system을 이용(利用)하여 경운소요(耕耘所要)토오크를 측정분석(測定分析)한 결과(結果)를 요약(要約)하면 다음과 같다. 1. 경운(耕耘)날의 회전속도(回轉速度) 및 전진속도(前進速度)는 경운소요(耕耘所要)토오크에 교호작용(交互作用)으로 영향(影響)을 미치는 것으로 분석(分析)되었으며, response surface analysis를 통(通)하여 분석(分析)한 수학적(數學的)인 모형(模型)은 다음과 같다. $$T=a_0+a_1V+a_2R+a_3VR+a_4VR^2$$ 여기서 T=경운소요(耕耘所要)토오크 (kg-m) $a_0$=당(當)수(數) $a_1,\;a_2,\;a_3,\;a_4$= 계(係)수(數) V=경운장치(耕耘裝置)의 전진속도(前進速度) (cm/s) R=경운(耕耘)날의 회전속도(回轉速度) (rpm) 2. 최대경운소요(最大耕耘所要)토오크는 로우터리날 회전속도(回轉速度)가 증가(增加)함에 따라 ${\frac{{\partial}T}{{\partial}V}}$는 증가(增加)하였으며, 200~220rpm에서 증가율(增加率)이 최저(最低)가 되었고, 같은 조건(條件)에서 ${\frac{{\partial}T}{{\partial}R}}$은 감소(減少)하는 경향(傾向)이었으며, 전진속도(前進速度)가 증가(增加)함에 따라 감소율(減少率)은 증가(增加)되었다. 3. 평균경운소요(平均耕耘所要)토오크는 회전속도(回轉速度)가 320~360rpm에서 ${\frac{{\partial}T}{{\partial}R}}$의 變化가 적었으며, ${\frac{{\partial}T}{{\partial}R}}$은 회전속도(回轉速度)가 증가(增加)함에 따라 감소율(減少率)이 증가(增加)되었다. 4. 전진속도(前進速度)에 대(對)한 토양(土壤)의 단위체적당(單位體積當) 평균경운소요(平均耕耘所要)토오크의 변화율(變化率)${\frac{{\partial}T}{{\partial}R}}$는 270~300rpm에서 최저(最低)가 되었으며, ${\frac{{\partial}T}{{\partial}R}}$은 V=29.40cm/s와 V=46.93cm/s일때 변화율(變化率)이 280~290rpm에서 교착(交錯)하였다. 5. 로우터리날의 형상각(形狀角)이 증가(增加)함에 따라 순경운소요동력(純耕耘所要動力)은 증가(增加)하였다. 그러나 실제(實際) 이용면(利用面)에서는 형상각(形狀角)이 작으면 로우터리날에 검불이 감기게 되므로 소요동력(所要動力)이 크게 증가(增加)함을 보여주는 연구결과도 있다. 그러므로 형상각(形狀角) 변화(變化)에 대(對)해서는 계속 연구(硏究)되어야 할 과제(課題)라 인정(認定)된다.