The computer simulation of tilling force has been conducted to a compact walking tractor that equipped with driving wheels and a rotary shaft in its rear and its front respectively to estimate the effect which the tilling force having a down cut rotary and a coaxial counter rotating rotary cause to the behavior and the depth of the tractor. The tractor uses a down cut rotating tine that rotates to the same direction of the driving wheels, and the coaxial counter rotating tines that rotates on the same shaft simultaneously. Further, an actual machine test was conducted to examine the correlation between the estimation and the test result. It was demonstrated that by using the coaxial counter rotating rotary, the effect not only stabilize the behavior of the tractor but accomplish twice the depths of a normal rotary’s can be obtained.
Article of Honda R&D Technical Review Vol.15 No.2 (145 - 152)