Planar linkage, methods of decoupling, mitigating shock and resonance, and controlling agricultural spray booms mounted on ground vehicles

The current invention discloses several methodologies that mitigate shock loading and propensity to resonance in agricultural spray boom structures. These include a near planar linkage for decoupling the boom assembly from the vehicle. This serves to permit further aspects of the invention to: Use the combined mass of the booms and center section as the tuned mass of a tuned mass damper: Act as an enabling part of a boom compliant suspension system to mitigate shock loadings otherwise imposed on the boom system, and: Act as an enabling part of an active boom height and roll control systems to permit the accurate navigation of the boom over undulating terrain. Further aspects include the incorporation of tuned mass dampers in the boom structure and components; and the use of the mass and operation of the boom outboard “breakaway” sections as tuned mass dampers.