Development and experimental validation of an agricultural robotic platform with high traction and low compaction

Simple item page
dc.contributor.authorReiser, David
dc.contributor.authorSharipov, Galibjon M.
dc.contributor.authorHubel, Gero
dc.contributor.authorNannen, Volker
dc.contributor.authorGriepentrog, Hans W.
dc.date.accessioned2024-09-03T07:30:36Z
dc.date.available2024-09-03T07:30:36Z
dc.date.issued2023de
dc.description.abstractSome 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.en
dc.identifier.urihttps://hohpublica.uni-hohenheim.de/handle/123456789/16230
dc.identifier.urihttps://doi.org/10.3390/agriculture13081510
dc.language.isoengde
dc.rights.licensecc_byde
dc.source2077-0472de
dc.sourceAgriculture; Vol. 13, No. 8 (2023) 1510de
dc.subjectEnergy efficiency
dc.subjectInterlocking drive
dc.subjectDraft force
dc.subjectNet traction ratio
dc.subjectAgriculture
dc.subject.ddc630
dc.titleDevelopment and experimental validation of an agricultural robotic platform with high traction and low compactionen
dc.type.diniArticle
dcterms.bibliographicCitationAgriculture, 13 (2023), 8, 1510 https://doi.org/10.3390/agriculture13081510. ISSN: 2077-0472
dcterms.bibliographicCitation.issn2077-0472
dcterms.bibliographicCitation.issue8
dcterms.bibliographicCitation.journaltitleAgriculture
dcterms.bibliographicCitation.volume13
local.export.bibtex@article{Reiser2023, url = {https://hohpublica.uni-hohenheim.de/handle/123456789/16230}, doi = {10.3390/agriculture13081510}, author = {Reiser, David and Sharipov, Galibjon M. and Hubel, Gero et al.}, title = {Development and Experimental Validation of an Agricultural Robotic Platform with High Traction and Low Compaction}, journal = {Agriculture}, year = {2023}, volume = {13}, number = {8}, }
local.export.bibtexAuthorReiser, David and Sharipov, Galibjon M. and Hubel, Gero et al.
local.export.bibtexKeyReiser2023
local.export.bibtexType@article

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
agriculture-13-01510.pdf
Size:
3.72 MB
Format:
Adobe Portable Document Format
Download

Collections

Institut für Agrartechnik