Analysis and Optimization of Driving Performance for Tree Transplanting Machine in Hilly Mountainous Areas

A structural optimization scheme for the prototype is proposed to improve the driving performance of tree transplanting machines operating in hilly and mountainous environments. Through theoretical analysis of the tree transplanting machine’s stability and passability, we determined the relationship between the center of gravity offset distance and overall performance when climbing slopes and crossing steps and trenches. This analysis determined the optimal parameter for the center of gravity offset distance. Subsequently, the prototype structure was optimized, and the center of gravity position was adjusted accordingly. The stability and passability of the prototype were simulated using the multi-body dynamics analysis software RecurDyn V9R4. Finally, the driving performance of the optimized prototype is evaluated through extensive tests. The test results revealed that the optimized prototype achieves the maximum lateral travel and longitudinal climbing angle of more than 30°, the maximum height over steps of 330 mm, and the maximum width across trenches of 890 mm. The outcomes of the real-vehicle tests are largely consistent with the simulation results, and the test outcomes meet the driving performance requirements for transplanting operations in hilly and mountainous terrains.