To address the competing relationship between tuber damage and soil removal in potato combine harvesting, this study investigated the operating mechanism of a belt-rod type separator of a small-scale self-propelled potato combine harvester and the separation performance between tuber and soil. The main factors affecting the tuber-soil separation characteristics were derived from a theoretical analysis of the belt-rod angle, belt-rod linear velocity, and harvester forward speed. A simulation model based on DEM (Discrete Element Method)-MBD (Multibody Dynamics) coupling was constructed and single-factor simulation tests were carried out. Then a three-factor, three-level Box–Behnken test was conducted using the coefficient of force on the tuber and soil clearing rate as response indicators. The optimal combination of parameters resulting in low tuber damage and high soil clearing rate was obtained by solving the regression equations. The optimal parameters were a belt-rod angle of 17.5°, a belt-rod linear velocity of 1.37 m/s, and a harvester forward speed of 0.80 m/s. The simulation model was validated by field experiments and the error between the simulation model and the field harvest was found to be 3.81%. The results can be used as a reference for parameter optimization of small-scale potato combine harvesters and coupled DEM-MBD simulation of tuber-soil separation.

To address the fact that existing studies may not be able to accurately describe the discrete element parameters of the soil during the potato harvesting period and to improve the accuracy of the potato harvesting equipment simulation studies, this study was conducted on the soil around the harvested potato tubers in the field. The simulation parameters of the discrete element model of soil were determined by the soil stacking angle test and soil block shear crushing test with the actual test measurements as the target. Based on a series of experimental designs, the factors affecting the stacking angle were the static friction coefficient and the rolling friction coefficient between soil particles; and the rolling friction coefficient between soil and steel. The factors affecting the maximum shear damage force were normal stiffness and shear stiffness per unit area. The quadratic regression equations were established and solved to obtain the optimal discrete element simulation parameters. The results can provide more realistic and reliable parameters for the construction of soil simulation models of potato fields during harvesting and for the discrete element simulation of soil-touching components of potato harvesting equipment. It can also further enrich the parameter data of soil discrete element simulation models and provide a reference for related research

Bionic robotic fish have advantages over traditional underwater propulsion. Most of the existing studies have been conducted with only one type of fish as a bionic object, but a single propulsion mode may not be able to achieve the different needs of underwater operations. In this paper, we designed a pneumatic variable-configuration soft bionic fish and completed the overall structure design. It was built with a cownose ray as the main-configuration bionic object and a Caranx melampygus as the secondary-configuration bionic object. The base structure, actuators, and variable-configuration modules of the robot were made using flexible materials. After completing the design of the structure and control system of the robot, the prototype was manufactured and an underwater test was completed. The tests results indicated that the robot fish could achieve underwater linear propulsion and turning movements in both configurations. The maximum propulsion speed of the main configuration was 38.24 mm/s and the turning angle speed was 5.6°/s, and the maximum propulsion speed of its secondary configuration was 43.05 mm/s and the turning angle speed was 30°/s. The feasibility of the machine fish structure and control scheme were verified.