This study considered using a relatively new method to study soil-tool wear which could drastically reduce the time and associated costs of traditional wear studies. The goal was to utilize discrete element method (DEM) simulations to recreate the results of a circular soil bin test in order to develop a relationship that could be used to predict wear under different conditions. Through the application of DEM, simulations could be used to study different materials or designs intended to result in improved wear performance.<p> Three replications of aluminum cylindrical bars were worn during 400 km of travel in a circular soil bin. Wear was quantified by measuring the change in radius of the cylinders at 18-degree intervals around their circumference. Mass data were also obtained to provide an overall average of wear occurring on the bar and to validate the radii measurements.<p> The DEM simulations were executed using EDEM software. Conditions present in the physical soil bin trials were simulated by recreating components in the soil bin and incorporating soil properties that were directly measured, using representative soil samples. Forces exerted on the bar by the soil and the relative velocities between the soil and tool were used to generate a relationship to predict wear of the bar. The wear equation was verified using a portion of the experimental data from the soil bin.<p> The wear model showed promise in predicting the amount of wear recorded in the soil bin through the application of DEM-predicted compressive forces and relative velocities between the tool and soil particles. The Archard equation for wear was modified to create a non-linear equation. Plotting the measured wear against the wear predicted from the fitted equation produced a trendline with a slope of 0.65. Although a perfect correlation would have produced a slope of 1, the model was able to predict a large portion of the wear that occurred. Refinement of the model could further be achieved with changes in the design of the geometry used in the simulation and through verification of force predictions with experimental data. Because of the variable nature of wear, additional replications of tools in the soil bin would have increased the number of data points available to create the model and reduced the impact of outlying data. With these recommended improvements, the wear model has the ability to very accurately predict the wear of a cylindrical bar.

This study considered using a relatively new method to study soil-tool wear which could drastically reduce the time and associated costs of traditional wear studies. The goal was to utilize discrete element method (DEM) simulations to recreate the results of a circular soil bin test in order to develop a relationship that could be used to predict wear under different conditions. Through the application of DEM, simulations could be used to study different materials or designs intended to result in improved wear performance.<p> Three replications of aluminum cylindrical bars were worn during 400 km of travel in a circular soil bin. Wear was quantified by measuring the change in radius of the cylinders at 18-degree intervals around their circumference. Mass data were also obtained to provide an overall average of wear occurring on the bar and to validate the radii measurements.<p> The DEM simulations were executed using EDEM software. Conditions present in the physical soil bin trials were simulated by recreating components in the soil bin and incorporating soil properties that were directly measured, using representative soil samples. Forces exerted on the bar by the soil and the relative velocities between the soil and tool were used to generate a relationship to predict wear of the bar. The wear equation was verified using a portion of the experimental data from the soil bin.<p> The wear model showed promise in predicting the amount of wear recorded in the soil bin through the application of DEM-predicted compressive forces and relative velocities between the tool and soil particles. The Archard equation for wear was modified to create a non-linear equation. Plotting the measured wear against the wear predicted from the fitted equation produced a trendline with a slope of 0.65. Although a perfect correlation would have produced a slope of 1, the model was able to predict a large portion of the wear that occurred. Refinement of the model could further be achieved with changes in the design of the geometry used in the simulation and through verification of force predictions with experimental data. Because of the variable nature of wear, additional replications of tools in the soil bin would have increased the number of data points available to create the model and reduced the impact of outlying data. With these recommended improvements, the wear model has the ability to very accurately predict the wear of a cylindrical bar.

Modified design of a planter to be attached to a mobile robot, was the main objective of this project. This research project was part of a larger project, called “Developing robotics assisted technology for farming”. The main motivation for this research project is the fact that mobile robot, is an electric powered vehicle with limited power and pulling force. Thus, a customized planter with a customized connection mechanism should be designed. Besides, it should require less draft force compared to existing planters so that it can be pulled by the mobile robot. The developed planter should have the same efficiency as the existing planters in seeding. To find the forces between soil engagement tool (disc coulter) and soil, experiments were designed and performed in the Linear Soil Bin at University of Saskatchewan. Disc and tilt angle of a disc coulter was changed and draft, vertical and side forces applied to it were measured to find the disc and tilt angle combinations that results in minimum draft force. Experiments showed that 7° disc angle and 25° tilt angle provides the least draft force compared to other disc angle and tilt angle combinations. Then, using the knowledge obtained from literature and the soil bin experiments, a planter was designed conceptually and in detail, based on the existing CNH planter. For further analyses computer modeling was performed. The whole planter was modeled in 3D, using SolidWorks. Stress analysis was performed in ANSYS Workbench to calculate safety factor of the designed parts. Two prototypes were fabricated and were attached to the mobile robot for field tests. Tests were performed in indoor settings to measure the total draft force required to pull developed planters. Draft force was very close to the value that was calculated in design stage. Results showed that an average of 460 N pulling force is required to pull one row planter for 50 mm depth of cut, which can be compared to n existing CNH corn planter that requires a pulling force of between 900 N to 1300 N. Seed drop accuracy and function of the developed planters in opening and closing a packed soil in presence of residue, were also observed in outdoor tests.

Orientador: Kléber Pereira Lanças / Resumo: A eficiência tratória dos tratores equipados com pneus infláveis varia desde próximo de 90%, quando operando em concreto, até menos de 50% para trabalhos em solos soltos ou arenosos. As características trativas de um pneu dependem do tipo e condições do solo, tipo e geometria do pneu, formato das suas garras, carga no eixo e pressão de inflação do pneu. Este trabalho teve como objetivo quantificar e avaliar o contato pneu/solo com ênfase nos métodos para a obtenção da área de contato. A abordagem, visando uma solução analítica para o caso, seria de difícil execução e imprecisa, não fosse o uso da técnica de Elementos Finitos que tem demonstrado versatilidade, flexibilidade e excelentes resultados em casos semelhantes. A área de contato do pneu com o solo é a responsável, em grande parte, pelo desempenho do trator, afetando também características como, a patinagem de pneus e a tração. A abordagem do problema, em primeira instância, considerou um delineamento experimental com parcelas sub-divididas constituído de 48 tratamentos, assim distribuídos: a) Três tipos de pneu: Diagonal, Radial e BPAF (baixa pressão de inflação e alta flutuação). b) Dois níveis de pressões de inflação do pneu: Alta: 165,50 kPa (17 psi, pneus montados no eixo traseiro do trator), "Baixa/correta" para pneus montados no eixo traseiro do trator: 68,95 kPa (7 psi) ou para cada tipo de pneu respectivamente. c) Quatro magnitudes de carga vertical aplicada no pneu: 0,5 kN, 1,0 kN, 1,5 kN e 2,0 kN. d) Dois tipos de solo: amostra de solo agrícola arenoso ( s= 1,4g/cm3) e amostra de solo agrícola argiloso ( s= 1,2g/cm3). Para realização do experimento com os dois tipos e condições de solo, foi utilizado um equipamento para o ensaio estático de pneus individuais, denominado tanque de solo com dispositivo hidráulico de aplicação de carga... (Resumo completo, clicar acesso eletrônico abaixo). / Abstract: The tractive efficiency of tractors equipped with inflated tires varies from nearly 90%, whem working on concrete, to less than 50% when working on loose soil or sand. The tractive characteristics of a tire depend on soil conditions, tire geometry and lugs, axle load and tire pressure. This wok aimed to estimate the contact tire/soil with emphasis on methods of determination of contact area. The approach using an analytical solution for this case wold of hard execution and inaccurate, but the use of the finite element solutions has been shown versatile, flexible and with exelents results in similar cases. The contact area of tire with the soil is the major responsible by the performance, affected also characteristics like sliding and traction. The problem was considered like an experimental design with 48 treatments being: a) Tree kinds of the tires, bias, radial and B.P.A.F. (low inflation pression and high flutuation). b) Two levels of inflation pressure of the tire, high: 165,50 kPa for each kind of tire, respectively. c) Two types of soil: sample of agricultural sandy soil ( s= 1,4g/cm3) and sample of agricultural clay soil ( s= 1,2g/cm3). To realize the experiment with two soil types and conditions were used an equipment for static test of individual tires named soil bin with hydraulic device to apply the loads. For each test the tire/soil contact area was determinate using a method of digital picture area integration. The data were used to elaborate mathematical models that expressed the relation ships among loads and strains using the Finite Element Method. The tests proved that relationship to determine the contact areas for bias tires gained the worst results once the B.P.A.F. tires showed the bests one. The Radial tires showed always intermediates results compared with the other two types. The pressure cells installed into the soil bin always showed... (Complete abstract click electronic access below). / Doutor

Made available in DSpace on 2014-06-11T19:31:35Z (GMT). No. of bitstreams: 0 Previous issue date: 2003-02Bitstream added on 2014-06-13T19:41:56Z : No. of bitstreams: 1 santos_pib_dr_botfca.pdf: 1550423 bytes, checksum: bb57085eaf0754ffaf290736b53b5ece (MD5) / Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP) / A eficiência tratória dos tratores equipados com pneus infláveis varia desde próximo de 90%, quando operando em concreto, até menos de 50% para trabalhos em solos soltos ou arenosos. As características trativas de um pneu dependem do tipo e condições do solo, tipo e geometria do pneu, formato das suas garras, carga no eixo e pressão de inflação do pneu. Este trabalho teve como objetivo quantificar e avaliar o contato pneu/solo com ênfase nos métodos para a obtenção da área de contato. A abordagem, visando uma solução analítica para o caso, seria de difícil execução e imprecisa, não fosse o uso da técnica de Elementos Finitos que tem demonstrado versatilidade, flexibilidade e excelentes resultados em casos semelhantes. A área de contato do pneu com o solo é a responsável, em grande parte, pelo desempenho do trator, afetando também características como, a patinagem de pneus e a tração. A abordagem do problema, em primeira instância, considerou um delineamento experimental com parcelas sub-divididas constituído de 48 tratamentos, assim distribuídos: a) Três tipos de pneu: Diagonal, Radial e BPAF (baixa pressão de inflação e alta flutuação). b) Dois níveis de pressões de inflação do pneu: Alta: 165,50 kPa (17 psi, pneus montados no eixo traseiro do trator), Baixa/correta para pneus montados no eixo traseiro do trator: 68,95 kPa (7 psi) ou para cada tipo de pneu respectivamente. c) Quatro magnitudes de carga vertical aplicada no pneu: 0,5 kN, 1,0 kN, 1,5 kN e 2,0 kN. d) Dois tipos de solo: amostra de solo agrícola arenoso ( s= 1,4g/cm3) e amostra de solo agrícola argiloso ( s= 1,2g/cm3). Para realização do experimento com os dois tipos e condições de solo, foi utilizado um equipamento para o ensaio estático de pneus individuais, denominado tanque de solo com dispositivo hidráulico de aplicação de carga... . / The tractive efficiency of tractors equipped with inflated tires varies from nearly 90%, whem working on concrete, to less than 50% when working on loose soil or sand. The tractive characteristics of a tire depend on soil conditions, tire geometry and lugs, axle load and tire pressure. This wok aimed to estimate the contact tire/soil with emphasis on methods of determination of contact area. The approach using an analytical solution for this case wold of hard execution and inaccurate, but the use of the finite element solutions has been shown versatile, flexible and with exelents results in similar cases. The contact area of tire with the soil is the major responsible by the performance, affected also characteristics like sliding and traction. The problem was considered like an experimental design with 48 treatments being: a) Tree kinds of the tires, bias, radial and B.P.A.F. (low inflation pression and high flutuation). b) Two levels of inflation pressure of the tire, high: 165,50 kPa for each kind of tire, respectively. c) Two types of soil: sample of agricultural sandy soil ( s= 1,4g/cm3) and sample of agricultural clay soil ( s= 1,2g/cm3). To realize the experiment with two soil types and conditions were used an equipment for static test of individual tires named soil bin with hydraulic device to apply the loads. For each test the tire/soil contact area was determinate using a method of digital picture area integration. The data were used to elaborate mathematical models that expressed the relation ships among loads and strains using the Finite Element Method. The tests proved that relationship to determine the contact areas for bias tires gained the worst results once the B.P.A.F. tires showed the bests one. The Radial tires showed always intermediates results compared with the other two types. The pressure cells installed into the soil bin always showed... (Complete abstract click electronic access below).