Investigation of the Interrelation of Physical and Mechanical Parameters of the Typical Surfaces Soil of Movement of Agricultural Tractors and Machines

The article discusses the determine the relationship between the cone index (CI) for typical surfaces of agricultural machines, which is widely used in terramechanics, and the main physical and mechanical characteristics of agricultural soils, which can be used to determine the traction force of a machine-tractor unit. Such parameters include the moisture content and density of the soil sample, the angle of internal friction, the modulus of soil deformation, and the specific adhesion of the soil, which change during the agricultural season. Over the course of 7 months, aa large-scale experimental and theoretical study was conducted on the soil of typical surfaces used by machine-tractor units and agricultural equipment. The relationship between these parameters and CI is shown. Five typical plots were studied: the first plot was a fallow land located on a slope; the second plot was virgin land; the third plot was a plowed field; the fourth plot was a dirt road; and the fifth plot was a dirt road covered with broken bricks. The analysis of the data showed that the area is passable if the right agricultural machinery is used. In addition, a diagram has been constructed showing the limitations of the terrain under study based on the cone index. An example mobility map for the study area has been constructed. The obtained mathematical dependencies can be used in the future to create mobility maps for any region of the world, as well as to create an algorithm for a mobile robotic complex.