# The Current Development Status of Agricultural Machinery
## 3. Chassis Travel Mechanism System of Agricultural Machinery
### Tracked Classis Systems
Their method quantifies the collision forcesbetween track links and mechanical components using spring-damper elements, with a focus on developing soil-friendly designs for reconfigurable locomotion systems capable of switching between wheeled and semi-tracked modes. This research established a numerical simulation platform for parametric design of locomotion systems. [PERSON] et al. [116] constructed a high-precision multi-body dynamics model for articulated-steering semi-tracked tractors. For the rear-mounted track system, they formulated a ground pressure distribution model (\(P_{i}=\frac{G_{i}}{d\lambda G}=\frac{m_{2}g}{2\lambda Gxdy}\), \(P_{i}\) is the grounding pressure on the tracked micro elements, N/m\({}^{2}\); \(G_{i}\) is the weight of each half-track walking mechanism, \(N\); g is acceleration of gravity, N/kg; \(m_{2}\) is the mass of the rear half car body, kg; dx is the micro element in the length direction of the part of the track contacting the ground, m; dy is the micro element in the width direction of the part of the track contacting the ground, m) and a micro-element friction resistance model, enabling quantitative evaluation of steering resistance torque. With respect to front wheel and track-ground interactions, contact-friction constraints were defined along with specified road surface friction coefficients, thereby establishing a comprehensive framework for quantitative dynamic analysis under complex operating conditions. Importantly, their methodology for road excitation reconstruction and parameter sensitivity analysis exhibits strong adaptability and can be extended to the development of other specialized agricultural machinery systems. The effective implementation of tracked undercarriage systems holds significant potential for mitigating soil compaction induced by agricultural machinery, serving as a key technological approach to promote high-standard farmland development, ensure food  
Figure 10: Domestic tracked tractors (China). (**a**) DFH C1302 Tracked Tractor; (**b**) DFH C602s Tracked Tractor; (**c**) Weichai Oubao M1002-3c Tracked Tractor; (**d**) Nongfu NF-902 Tracked Tractor. security, and enhance farmers' economic benefits. In recent years, China has developed a foundational research capacity in tracked undercarriage technologies, with relevant institutions proposing systematic strategies for structural optimization, scenario-specific adaptation, and large-scale deployment. Nevertheless, current tracked agricultural machinery still encounters major technical challenges across cultivation, planting, management, and harvesting operations: Firstly, the adaptability to complex field conditions--such as waterlogged clay soils and sloped terrain--remains insufficient. This limitation arises from inadequate modeling of chassis stability, wheel-soil interaction dynamics, and real-time soil response mechanisms, which calls for improvements in operational reliability and system robustness. Secondly, the integration level of intelligent control systems is relatively low, particularly concerning the synergistic integration of steering dynamics, accurate slippage compensation algorithms, and nonlinear friction damping regulation, thereby limiting precision operation performance and industrial scalability. Future research on critical tracked undercarriage technologies should focus on four core areas: (1) stability theory and autonomous control systems; (2) powertrain optimization and advanced steering mechanisms; (3) autonomous navigation combined with intelligent management systems; and (4) track-soil interaction modeling. This multi-disciplinary strategy aims to establish a comprehensive technology framework tailored to complex farmland environments, offering theoretical foundations and technical paradigms to support the intelligent transformation of modern agricultural equipment.