Study on Walking Boat-Type Tractor in Paddy Field

In order to raise the tractive efficiency of a boat-type tractor further, according to a point of view about reducing energy consumption by reducing the volume of the blade cavity, an idea of a four-feet walking boat-type tractor is put forward, and a walking device with two feet and four small wheels is designed and manufactured. It can move on the rails of a paddy soil bin to simulate the tractive performance of a boat-type tractor in the paddy field. Kinematics and dynamics of the walking device is analysed. Because it can ensure that the blade foot enters and leaves the soil vertically, and eliminates the functions of the soil compression and picking by the blade entirely, so the volume of the blade cavity can be reduced to a minimum and the efficiency of the walking system has been raised considerably. Thus, it is feasible to adopt a four-feet walking mechanism in the boat-type tractor.