Simulation model for analyzing the kinematics of chain-type forest planting machine

At present, planting is almost universally favored in the establishment of forest crops. In order to cover all available areas with mechanized planting it is necessary to create new forest planting machines. One of the directions of improving the technological process of mechanized planting is the improvement and development of new mechanisms for feeding seedlings (saplings) into the planting slot formed by the coulter. To justify the parameters of the forest planting apparatus, it is necessary to determine the movement parameters of its links. To analyze the kinematics of forest machines use automated software such as SolidWorks, Matlab/Simulink. However, the use of foreign software does not meet modern trends, so we used domestic software packages. The three-dimensional model of the chain planter was made in the 3Ddesign environment KOMPAS-3D. Analytical systems of equations obtained on the basis of geometric parameters of the three-dimensional model were entered into the developed simulation model. Thus, the simulation model of motion of the chain planting machine was developed taking into account the geometric parameters of the design and analytical systems describing the motion of the grippers with a seedling. The simulation experiment carried out in the software package of modeling mechanical systems «Universal Mechanism 9.0» allowed to determine the characteristics of the movement of the seedling briquette necessary for its installation in the ground, as well as force parameters in the grippers for its retention. The positions of the links of the designed working body of the planting machine are established throughout the simulation time. The time points of the seedling and briquette feeding for the specified input values are determined. The trajectories of the briquette movement in the landing plane and its speed are determined. The forces on the springs are determined, sufficient to hold the seedling with a briquette in the grips.

1. Bartenev I.M. Forestry machines. Theory. Study. Designs: monograph. Voronezh: VGLTU, 2015. 219 p. (In Russ.)

2. Bartenev I.M., Bukhtoyarov L.D., Popikov V.P., Pridvorova A.V. Simulation model of a branch cutter in CAD. Forestry Engineering Journal, 2020, vol. 10, no. 1(37), pp. 153–160. DOI: 10.34220/issn.2222-7962/2020.1/20. (In Russ.)

3. Belyaev A.N., Trishina T.V., Novikov A.E., Dyachenko Yu.I., Vysotskaya I.A. Study of the movement of a wheeled vehicle along a curvilinear trajectory. Bulletin of the Voronezh State Agrarian University, 2021, vol. 14, no. 4(71), pp. 21–29. DOI: 10.53914/issn2071-2243_2021_4_21 (In Russ.)

4. Bukhtoyarov L.D., Drapalyuk M.V., Pridvorova A.V. Simulation of the movement of hedge cutter links in the Simulink application of the Matlab package. IOP Conference Series: Earth and Environmental Science. Voronezh, 2021. No. 12004. DOI: 10.1088/1755-1315/875/1/012004.

5. Klubnichkin V.E., Klubnichkin E.E., Gorbunov A.Y., Druchinin D.Y. Development of the forwarder articulation joint. Forestry Engineering Journal, 2020, vol. 10, no. 4(40), pp. 217–226. https://doi.org/10.34220/issn.2222-7962/2020.4/18 (In Russ.)

6. Shabanov M.L. Substantiation of the coulter parameters and the rational layout of the working bodies of the forest planter: diss. ... cand. tech. Sciences: 05.21.01. Voronezh, 2002. 152 p. (In Russ.)

7. Shavkov M.V. Substantiation of the parameters of the combined coulter of a forest planter: diss. ... cand. tech. Sciences: 05.21.01. Voronezh, 2013. 212 p. (In Russ.)

8. Titov P.I. Improving the technological process and design of a tree planting machine for nurseries: diss. ... cand. tech. Sciences: 05.21.01. Voronezh, 2006. 151 p. (In Russ.)

9. Zhdanov Yu.M. Research and substantiation of the technology of embedding the root system of seedlings and the parameters of the embedding elements of forest planting machines: diss. ... cand. tech. Sciences: 05.00.00. Volgograd, 1969. 196 p. (In Russ.).