Development and Experimental Validation of an Agricultural Robotic Platform with High Traction and Low Compaction

David Reiser, Galibjon M. Sharipov (), Gero Hubel, Volker Nannen and Hans W. Griepentrog
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David Reiser: Bosch Engineering GmbH, Robert-Bosch-Allee 1, 74232 Abstatt, Germany
Galibjon M. Sharipov: Institute of Agricultural Engineering, University of Hohenheim, Garbenstr. 9, 70599 Stuttgart, Germany
Gero Hubel: VARTA Microbattery GmbH, Varta-Platz 1, 73479 Ellwangen, Germany
Volker Nannen: University of Groningen, 9712 CP Groningen, The Netherlands
Hans W. Griepentrog: Institute of Agricultural Engineering, University of Hohenheim, Garbenstr. 9, 70599 Stuttgart, Germany

Agriculture, 2023, vol. 13, issue 8, 1-15

Abstract: Some researchers expect that future agriculture will be automated by swarms of small machines. However, small and light robots have some disadvantages. They have problems generating interaction forces high enough to modify the environment (lift a stone, cultivate the soil, or transport high loads). Additionally, they have limited range and terrain mobility. One option to change this paradigm is to use spikes instead of wheels, which enter the soil to create traction. This allows high interaction forces with the soil, and the process is not limited by the weight of the vehicle. We designed a prototype for mechanical soil cultivation and weeding in agricultural fields and evaluated its efficiency. A static and dynamic test was performed to compare the energy input of the electrical motor with precise measurements of the forces on the attached tool. The results indicate that the prototype can create interaction forces of up to 2082 N with a robot weight of 90 kg. A net traction ratio of 2.31 was reached. The dynamic performance experiment generated pull forces of up to 1335 N for a sustained net traction ratio of 1.48. The overall energy efficiency ratio for the machine reached values of up to 0.54 based on the created draft force and the measured input energy consumption.

Keywords: energy efficiency; interlocking drive; draft force; net traction ratio; agriculture (search for similar items in EconPapers)
JEL-codes: Q1 Q10 Q11 Q12 Q13 Q14 Q15 Q16 Q17 Q18 (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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