Theoretical Justification of the Kinematics of a Blade Rotational Drum

This study investigated the kinematics of a rotary drum blade under controlled conditions by focusing on the trajectory of motion and energy efficiency in soil tillage. The equations of motion were developed to calculate the drum center trajectory and blade paths under varying rotational parameters, considering the angular velocity, rotation radius, and cycloidal motion types. Classical numerical methods have been employed to model technological processes in rotary-tillage machines, drawing on Panov's developments in energy-efficient soil loosening. The analysis revealed that passive working bodies in soil tillage machines influence soil compaction and deformation based on their geometric shapes and operational speeds. The trajectory of the drum changed rapidly, forming elongated or shortened cycloids. The results of mathematical modelling showed that the best energy consumption occurred when the soil was deformed in the valence phase, which reduced the resistance but still effectively loosened the soil. In addition, scientific research has shown that the use of rotary tillage machines is indeed the most advantageous in reducing the required power and saving energy and also helps in weed control and aeration of the soil. Studies have shown that to achieve the best efficiency, the advantages of optimizing the rotation parameters of the drum and the design of the blade are highlighted, and the study found that the new type of rotary drum is more efficient than the traditional type. It is noteworthy that the softer the soil, the lower the energy consumption of the rotary drum. Future research will focus on improving blade design and parameters. Conducting field tests under real agricultural conditions is crucial for validating theoretical experiments.