Abstract: Aiming at the problems of soft soil in Guizhou mountains,  small land area,  large slope,  and the inability of the existing pepper harvester to travel on the mountain,  a crawler selfpropelled pepper harvester suitable for hilly and mountainous areas was designed. The chassis of the harvester is used as the object,  and the passability and stability of the harvester during mountain driving are studied. RecurDyn is used to simulate the process of chassis driving on horizontal slopes,  vertical slopes,  over vertical walls,  and crossing trenches. The simulation results show that when the harvester is running on a clay road with a full load,  the maximum slope angle of crossslope driving is 22°,  the maximum slope angle of vertical slope uphill is 30°,  the maximum slope angle of downhill is 21°,  the maximum height over a vertical wall is 510 mm,  and the maximum width across the trench is 1 020 mm. The field test results of the harvester show that the relative error between the maximum value of the harvester uphill,  vertical wall crossing,  and ditch crossing and the simulation results is 10%,  1.96%,  and 3.92%. The test results are similar to the simulation results. The test verifies that the harvester has good stability and passability during the driving and can meet the current requirements of Guizhou mountain pepper harvesting.

Key words: pepper harvester, tracked chassis, RecurDyn, stability, passability

摘要： 针对贵州山地土质松软，田块面积小、坡度大，现有辣椒收获机在山地上行驶困难等问题，设计一种适用于丘陵山地的履带自走式辣椒收获机，并以该收获机的底盘为对象，研究收获机在山地行驶过程中的通过性和稳定性。利用RecurDyn对底盘在横坡行驶、纵坡行驶、翻越垂直壁和跨越壕沟等过程进行仿真。仿真结果表明，收获机在黏土路面上满载行驶时，横坡行驶最大坡度角为22°，纵坡上坡最大坡度角为30°，纵坡下坡最大坡度角为21°，翻越垂直壁最大高度为510 mm，跨越壕沟最大宽度为1 020 mm。田间试验结果表明，收获机纵坡上坡、翻越垂直壁和跨越壕沟的极限值与仿真结果的相对误差分别为10%、1.96%和3.92%,吻合度较高。试验验证了收获机在行驶过程中具有较好的稳定性和通过性，能够满足现阶段贵州山地辣椒采收要求。

关键词: 辣椒收获机, 履带底盘, RecurDyn, 稳定性, 通过性