Abstract: In order to meet the walking and operation requirements of agricultural machinery on hilly and complex terrain， the all‑directional position and pose adjustment of agricultural machinery track chassis was designed. The theoretical analysis and three‑dimensional parametric modeling methods were used to design and analyze the key components of the chassis， such as the walking system， transverse and longitudinal adjustment mechanism and so on. The electro‑hydraulic attitude adjustment control system collected the information of transverse and longitudinal roll angle and the displacement of the hydraulic cylinder of each attitude adjustment in real time， so as to achieve the realization on the slope with continuous change of inclination angle. Chassis body horizontal and longitudinal attitude were continuously adjusted to the horizontal. In order to verify the performance of the chassis， different road conditions and plots were used as test sites to repeatedly test the vehicle's passability and stability. The results showed that the Angle error of slope leveling of the attitude adjustment mechanism was ≤±1.5°， the Angle of transverse attitude adjustment was ≤15°， and the angle of longitudinal attitude adjustment was ≥30°. This study can provide reference and technical support for the further transformation of mechanized operation in hilly and mountainous areas.

Key words: transverse adjustment, longitudinal adjustment, electro?hydraulic control, parallel four?bar, PID control

摘要： 为满足丘陵山地复杂地形农机行走与作业要求，设计全向位姿调整农机履带底盘。采用理论分析与三维参数化建模方法对该底盘的行走系统、横向调整机构和纵向调整机构等关键部件进行设计分析，电液调姿控制系统实时采集车身横向倾翻角和纵向翻滚角及各调姿液压缸位移等信息，实现在倾角连续变化的坡地上，底盘车身横向姿态与纵向姿态不断调整至水平。为验证该底盘的各项性能，以不同路况和地块为试验场地，反复多次试验整车通过性和稳定性，得到姿态调整机构坡度调平角度误差≤±1.5°、横向姿态调整角≤15°、纵向姿态调整角≥30°。为丘陵山地宜机化作业进一步改造提供参考和技术支持。

关键词: 横向调整, 纵向调整, 电液控制, 平行四杆, PID控制