Table 1: Motion constraints.

Part 1Part 2Constraint

FuselageLeft and right rocker arm pin shaftsFixed pair
Left and right rocker arm pin shaftsLeft and right rocker armRigid-flexible surface contact
Left and right rocker armLeft and right rollersRevolute pair
FuselageLeft and right lifting cylinder rod pin shaftsRevolute pair
Left and right rocker armLeft and right lifting cylinder pin shaftsRigid-flexible surface contact
Left and right lifting cylinder rodLeft and right lifting cylinderTranslating pair
FuselageLeft and right guiding support plate pin shaftsFixed pair
Left and right plane support plate pin shaftsLeft and right guiding support platesRevolute pair
FuselageLeft and right plane support plates pin shaftsFixed pair
Left and right plane support plate pin shaftsLeft and right plane support platesRevolute pair
Left and right guiding support plate pin shaftsLeft and right driving wheelsRevolute pair
Pin rowScraper middle troughFixed pair
Scraper middle troughGroundFixed pair