Simulation Analysis and Experimental Research on Trafficability of Electric Tracked Chassis for Orchards in Hilly and Mountainous Areas

Aiming at the low mechanization level of orchards in hilly and mountainous areas of China and the mismatch between existing walking chassis and the soft soil and complex terrain of densely planted orchards, this paper systematically conducts simulation analysis and field verification on the trafficability of an electric tracked chassis, targeting the operation demands of sandy-loam densely planted orchards in hilly regions of Jiangsu Province. Theoretical calculation yields a maximum vertical obstacle-crossing height of 0.22 m, a maximum trench-crossing width of 0.63 m, and a maximum static sliding angle of 35° for the chassis. Based on the measured bulk density and angle of repose of orchard soil, the soil contact parameters are calibrated via the Box–Behnken response surface methodology, and a RecurDyn-EDEM bidirectional coupling simulation model is established. The dynamic responses of the chassis and soil disturbance patterns are analyzed under obstacle-crossing, trench-crossing, straight-line driving, slope-climbing and steering conditions. The results indicate that the geometric trafficability of the chassis satisfies the design requirements; low-speed operation and large-radius steering can effectively reduce soil disturbance, while a 30° soft soil slope exceeds the safe trafficability limit. Field tests show that the relative errors of driving wheel torque are all below 16%, and the average straight-line driving offset rate is 1.71%, verifying the reliability of the simulation model. This study provides technical support for the performance optimization of electric tracked chassis applied in densely planted orchards of hilly areas.