# Design and Test of a Single-Row Harvesting and Cutting Integrated Handheld Garlic Harvester
## 3 Results  
### Sidesweire Threshold Analysis Results  
The single-row harvesting and cutting integrated handheld garlic harvester works in a field with a rugged road surface and complex road conditions. To ensure that the garlic harvester can operate normally, it must be analyzed for rollover. The analysis was carried out considering the low operating speed of the machine, ignoring the operating speed of the machine as well as the elastic deformation of the tires, and assuming it to be an ideal form for the analysis of the machine.  
It is now assumed that the machine travels in a field where a raised stone makes the wheel landing point at an angle to the ground, a simplified diagram of which is shown in Figure 9.  
The angle generated between the landing point of the wheels and ground was \(\alpha\). Now, assume that this angle is small and can be considered \(\sin\alpha\approx\alpha\) and \(\cos\alpha\approx 1\). The black dot in the figure is the center of mass of the machine, and the calculation equations are derived from the automobile theory as follows:  
\[ma_{y}h_{g}-mg\alpha h_{g}+F_{Zi}B-\frac{1}{2}mgB=0 \tag{11}\]  
Figure 9: Simplified diagram of rollover. B is the middle distance between two wheels.  
\begin{table}
\begin{tabular}{c c c c c c} \hline \hline
**Source** & **Sum of Square** & **Df** & **Mean Square** & **F-Value** & \(p\)**-Value** & \\ \hline Model & 34.66 & 14 & 2.48 & 120.16 & \(<\)0.0001 & significant \\ A: Conveying speed & 2.40 & 1 & 2.40 & 116.25 & \(<\)0.0001 & \\ B: Tool speed & 0.2349 & 1 & 0.2349 & 11.40 & 0.0045 & \\ C: Groundbreaking angle & 28.22 & 1 & 28.22 & 1369.90 & \(<\)0.0001 & \\ D: Forward & 3.54 & 1 & 3.54 & 171.90 & \(<\)0.0001 & \\ AB & 2.500 \(\times\) 10\({}^{-7}\) & 1 & \(2.500\times 10^{-7}\) & 0.0000 & 0.9973 & \\ AC & 2.500 \(\times\) 10\({}^{-7}\) & 1 & \(2.500\times 10^{-7}\) & 0.0000 & 0.9973 & \\ AD & 2.500 \(\times\) 10\({}^{-7}\) & 1 & \(2.500\times 10^{-7}\) & 0.0000 & 0.9973 & \\ BC & 0.1726 & 1 & 0.1726 & 8.38 & 0.011 & \\ BD & 2.500 \(\times\) 10\({}^{-7}\) & 1 & \(2.500\times 10^{-7}\) & 0.0000 & 0.9973 & \\ CD & 2.500 \(\times\) 10\({}^{-7}\) & 1 & \(2.500\times 10^{-7}\) & 0.0000 & 0.9973 & \\ A\({}^{2}\) & 0.0077 & 1 & 0.0077 & 0.3185 & 0.549 & \\ B\({}^{2}\) & 0.0313 & 1 & 0.0313 & 1.52 & 0.2381 & \\ C\({}^{2}\) & 0.0313 & 1 & 0.0313 & 1.52 & 0.2381 & \\ D\({}^{2}\) & 0.0077 & 1 & 0.0077 & 0.3757 & 0.5498 & \\ \hline \hline \end{tabular}
\end{table}
Table 8: Analysis of variance of the net harvest rate regression equation.  
\[\frac{a_{y}}{\delta}=\frac{\frac{1}{2}B+\alpha h_{g}-\frac{F_{Zi}}{mg}B}{h_{g}}= \left(\frac{1}{2}-\frac{F_{Zi}}{mg}\right)\frac{B}{h_{g}}+\alpha \tag{12}\]  
On a horizontal road, the two wheels share the gravitational force of the vehicle mg equally. The horizontal road \(\alpha=0\) and \(a_{y}=0\), and the vertical reaction force on the inside of the wheel in contact with the ground is \(F_{Zi}=\text{mg}/2\). When encountering a protruding stone in a horizontal field, \(\alpha\) increases instantaneously and \(F_{Zi}\) decreases when \(a_{y}\) increases. When \(F_{Zi}\) decreases to zero, the machine cannot maintain its original equilibrium, and rollover occurs.  
The conclusion from the test above is that when the slope is \(0^{\circ}\), the threshold value of the rollover is \(B/h_{g}\). The center distance between the two wheels, \(B=400\) mm, \(h_{g}=450\) mm, is measured by calculating the threshold value \(B/h_{g}=400/450\approx 0.89\). By checking the data, we found that the rollover threshold value of a car is 1.1-1.6, that of a passenger and cargo vehicle is 0.8-1.1, and that of a medium-sized truck is 0.6-0.8. The rollover threshold value of this machine is moderate, which ensures the stability of the machine.