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Analysis of Kinematic Diagrams and Design Solutions of Mobile Agricultural Robots

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Interactive Collaborative Robotics (ICR 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12998))

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Abstract

Automation and robotization in agriculture can reduce the amount of manual labor and increase yields and product quality. To perform tasks on agricultural land, the robot needs to move on open ground and cover significant distances. Thus, the main structural part of the agricultural robot is an autonomous mobile platform on which various functional equipment is installed. The rapid development of agricultural robotics makes it urgent to develop multifunctional platforms for applications in this area. To select the optimal kinematic scheme of the future robotic platform, it is necessary to analyze the existing solutions in this area and draw conclusions about the advantages and disadvantages of various options. This work is aimed at the search and selection of kinematic schemes for basic robotic platforms, the use of which is planned on agricultural land and in greenhouse complexes. The paper analyzes the design solutions and propellers used by the authors of research works and projects in the field of agricultural robotics. Based on the analysis, the most suitable kinematic schemes of mobile platforms were selected for this area, their properties and principles of operation were considered.

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Authors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS), 39, 14th Line, 199178, St. Petersburg, Russia

    Iuliia Vasiunina, Konstantin Krestovnikov, Aleksandr Bykov & Aleksei Erashov

Authors
  1. Iuliia Vasiunina
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  2. Konstantin Krestovnikov
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  3. Aleksandr Bykov
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  4. Aleksei Erashov
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Editor information

Editors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. V. A. Trapeznikov Institute of Control Sciences, Moscow, Russia

    Roman Meshcheryakov

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Vasiunina, I., Krestovnikov, K., Bykov, A., Erashov, A. (2021). Analysis of Kinematic Diagrams and Design Solutions of Mobile Agricultural Robots. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2021. Lecture Notes in Computer Science(), vol 12998. Springer, Cham. https://doi.org/10.1007/978-3-030-87725-5_19

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  • DOI: https://doi.org/10.1007/978-3-030-87725-5_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-87724-8

  • Online ISBN: 978-3-030-87725-5

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