Theoretical Considerations on Rolling of Rice Transplanter

Abstract

Rolling of the walking type rice transplanter was theoretically investigated. The results are as follows.
1) Dynamic model of the rice transplanter was determined as shown in Figs. 1 and 4. The differential equation of motion in regard to the rolling can be deduced from kinetic energy, potential energy and dissipation function of the system by substituting into Lagrange's equation. The equation of motion (15) can be expressed by the damped three-degrees-of-freedom system and becomes nonlinear by the decrease of mass and the change of moment of inertia and of the location of center of gravity as the time proceeds. Therefore, numerical calculation was done by digital computer.
2) All kinds of coefficients necessary for the numerical solution of the equation of motion were measure and parameters were determined, the values being shown in Tables to 4. The moment of inertia of mat type seedling was calculated from the theoretical equation (21).
3) The solution curve in the center of gravity of the body is shown in Fig. 7. From the results, it can be estimated that the body will rise up by 9 to 12mm when the seedlings are exhausted.
4) The displacement of the attaching point of planting finger can be obtained from the equations (15) and (21), the results being shown in Fig. 8. At the beginning of transplanting, the difference of the amplitude of right and left fingers was 2.7 to 4.4mm. At the end of transplanting, it reduced to 0.3 to 2.1mm. The displacement at the middle of right and left fingers was about equal to the rise of the body.
5) The results of the calculation of the rolling and the displacement of the float are shown in Figs. 9 and 10. The amplitudes decreased as the time proceeds, and the values were small in comparison with the vertical displacement of the body.