• The study compares locomotion system performance of tractor robots. • Motion efficiency of tracked robot was lower than that of wheeled robot. • Slip efficiency of tracked robot was higher than that of wheeled robot. • Tractive efficiency of tracked robot was higher than that of wheeled robot. • Overall, tracked robot outperformed than wheeled robot in traction performance. This paper is the first comparative study described results of locomotion system performance of ground mobile robots (wheeled and tracked tractor robots) in agricultural drawbar works. In this context, motion, slip, and tractive efficiency of the robots were compared based on the Student's t-test for tire air pressure of 20.68-55.16 kPa and robot forward speed of 0.17-0.5 m/s. Results indicate that motion efficiency of the tracked robot (93.27-95.12 %) was lower than that of the wheeled robot (94.52-99.31 %) with normal and maximum tire air pressure. Moreover, slip efficiency of the tracked robot (89.25-91.73 %) was higher than that of the wheeled robot (80.94-89.74 %) in all drawbar works. Tractive efficiency of the tracked robot (83.02-87.10 %) was also higher than that of the wheeled robot (80.17-84.60 %) in almost all drawbar works. Thus, it can be pointed out that the tracked robot outperformed than the wheeled robot in term of traction performance. Generally, numerical and analytical descriptions are applicable for the researchers interested in improvement and optimization of locomotion system performance of ground mobile robots in agricultural drawbar works. This type of the robots is commonly employed in agricultural environments such as field, livestock, poultry house, and greenhouse. 

Experimental comparison of locomotion system performance of ground mobile robots in agricultural drawbar works

This study proposes a heterogeneous modular reconfigurable robot called SABER (short for Step, Assembler, and Bridge Explorer Robot) that is suitable for future autonomous extraterrestrial missions. SABER comprises a platform and a reconfigurable rail and can operate in monowheel, rail trolley, and manipulator configurations. The monowheel configuration provides locomotion at a top speed of 10 km/h. The rail trolley configuration allows the robot to traverse gaps whose length is greater than its wheel diameter, climb steps whose height is no taller than the wheel radius, and pass through passages narrower than the wheel diameter. The manipulator configuration enables the robot to manipulate objects using two robotic arms with changeable tools. This design allows several SABERs to work as a team to enlarge their working area or enhance their mechanical capabilities. As such, SABERs can undertake various tasks in extraterrestrial missions, including exploration, outpost building and equipment maintenance. The key feature of the SABER is its mechanical transmission that allows its platform to move rapidly along a rail made from the manipulators of the robot. We also formulated the novel concept of a jamming safety diagram that is used to determine controller precision requirements to prevent the transmission from jamming. Finally, a new positioning controller meeting those requirements was introduced and implemented as field-programmable-gate-array firmware that is compatible with a wide range of low-cost integrated circuits. In numerical simulations, we evaluated SABER with respect to its speed, acceleration, oscillation, and ability to negotiate gaps and steps; SABER performed as well as or better than existing autonomous mobile robots and modular reconfigurable robots.

A Modular Reconfigurable Robot for Future Autonomous Extraterrestrial Missions

The track shoe is the key component of the tracked chassis in contact with the ground. In order to improve the passing capacity (traction force) of the tracked chassis in sand, we designed a track shoe for running on sand, inspired by the ostrich-foot. Focusing on the structural parameters of the track shoe, we developed a traction model of the track shoe behavior based on the theory of vehicle terra-mechanics. The finite element analysis of different forms of track shoes was carried out combined with orthogonal experiments, and verified by the soil bin test. The results show that the width of the track shoe and the height of the track grouser are positively correlated with the traction performance of the chassis, and each additional track shoe increases its traction by 30%. The No.1 sand-special track shoe (the design inspiration comes from the sand-gathering function of ostrich-foot.) can improve the traction of the tracked chassis by 41.7%. The tractive force model can well predict the tractive force of the tracked chassis in sand, and the track shoe designed in this paper is helpful to improve the tractive force of the tracked chassis in sandy land.

Research on the design and traction characteristics of a vehicle track shoe for sandy land

Design and analysis of multistage adaptive lateral deformation tracked robot

Parametric analysis of traction energy of an autonomous wheeled robotic system for application in greenhouse environment

A multistage adaptive lateral deformation tracked robot was designed to improve the passing ability of field robots. The designed robot can change its width under the combined action of space barrier constraint and internal stored elastic potential energy. The lateral sliding friction affected by grouser parameters during lateral deformation is a key factor that determines whether or not the robot can achieve deformation. This study focuses on the track terramechanics and grouser parameter optimization. On the basis of the theory of terramechanics, the interaction of the flexible track lateral movement with the ground model and traction model was established. Taking the requirement of traction as the constraint condition and the minimum lateral sliding resistance as the optimization objective, we used the multitarget optimization algorithm (NSGA-II) to optimize and analyze the grouser parameters. Then, the optimal combination of grouser parameters was obtained. Simulation analysis was carried out on RecurDyn software to complete the simulation verification of the lateral force and traction force under different grouser parameters. The correctness of the theoretical model and the optimization of the grouser parameters was verified through prototype experiments.

/pdf/terramechanics-modeling-and-grouser-optimization-for-4nocig2924.pdf

Terramechanics Modeling and Grouser Optimization for Multistage Adaptive Lateral Deformation Tracked Robot

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Terramechanics Modeling and Grouser Optimization for Multistage Adaptive Lateral Deformation Tracked Robot