Experimental comparison of locomotion system performance of ground mobile robots in agricultural drawbar works
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-te...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2023-02-01
|
| Series: | Smart Agricultural Technology |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S277237552200096X |
| _version_ | 1797990808992874496 |
|---|---|
| author | S.M. Shafaei H. Mousazadeh |
| author_facet | S.M. Shafaei H. Mousazadeh |
| author_sort | S.M. Shafaei |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-11T08:42:09Z |
| format | Article |
| id | doaj.art-93923995cab7452f8bc4da3e76afd93d |
| institution | Directory Open Access Journal |
| issn | 2772-3755 |
| language | English |
| last_indexed | 2024-04-11T08:42:09Z |
| publishDate | 2023-02-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Smart Agricultural Technology |
| spelling | doaj.art-93923995cab7452f8bc4da3e76afd93d2022-12-22T04:34:09ZengElsevierSmart Agricultural Technology2772-37552023-02-013100131Experimental comparison of locomotion system performance of ground mobile robots in agricultural drawbar worksS.M. Shafaei0H. Mousazadeh1Department of Mechanical Engineering of Biosystems, Faculty of Agricultural Engineering and Technology, College of Agriculture and Natural Resources, University of Tehran, Karaj 31587-77871, Iran; Research and Development (R&D) Unit, Zagros Sanat Arka Company, Tehran 13938-44156, IranDepartment of Mechanical Engineering of Biosystems, Faculty of Agricultural Engineering and Technology, College of Agriculture and Natural Resources, University of Tehran, Karaj 31587-77871, Iran; Corresponding author.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.http://www.sciencedirect.com/science/article/pii/S277237552200096XMotion efficiencySlip efficiencyTractive efficiencyWheeled robotTracked robot |
| spellingShingle | S.M. Shafaei H. Mousazadeh Experimental comparison of locomotion system performance of ground mobile robots in agricultural drawbar works Smart Agricultural Technology Motion efficiency Slip efficiency Tractive efficiency Wheeled robot Tracked robot |
| title | Experimental comparison of locomotion system performance of ground mobile robots in agricultural drawbar works |
| title_full | Experimental comparison of locomotion system performance of ground mobile robots in agricultural drawbar works |
| title_fullStr | Experimental comparison of locomotion system performance of ground mobile robots in agricultural drawbar works |
| title_full_unstemmed | Experimental comparison of locomotion system performance of ground mobile robots in agricultural drawbar works |
| title_short | Experimental comparison of locomotion system performance of ground mobile robots in agricultural drawbar works |
| title_sort | experimental comparison of locomotion system performance of ground mobile robots in agricultural drawbar works |
| topic | Motion efficiency Slip efficiency Tractive efficiency Wheeled robot Tracked robot |
| url | http://www.sciencedirect.com/science/article/pii/S277237552200096X |
| work_keys_str_mv | AT smshafaei experimentalcomparisonoflocomotionsystemperformanceofgroundmobilerobotsinagriculturaldrawbarworks AT hmousazadeh experimentalcomparisonoflocomotionsystemperformanceofgroundmobilerobotsinagriculturaldrawbarworks |