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Mechanism of generating drawbar pull of rod wheel on loose soil

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Abstract

In this paper, we propose a model of drawbar pull generated by wheels fitted with a rod and assess it by comparing measured values obtained from an experiment with those from the model. In recent years, many kinds of robots for weeding in paddy fields have been developed. However, almost all of these are large and heavy. We have previously developed a small, lightweight robot for weeding. This robot is equipped with a rod wheel that has roles of weeding and running. However, this wheel was developed by experience from demonstrations and its dynamics for control remain unknown. To solve this problem, we propose a new model for drawbar pull generated by rod wheels and evaluate it by comparing experimental values with those from the model.

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Acknowledgements

This research was supported by “Development of a weeding robot system for rice fields,” Adaptable and Seamless Technology Transfer Program through Target Driven R&D, Japan Science and Technology Agency. It was also supported by the Promotion Project for the Development of Agricultural Work Support Robots among Promotion Projects to facilitate Innovation Projects of Agricultural, Forestry and Fisheries Area (Rice Field Weeding Robot).

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Authors and Affiliations

  1. Department of Computer Science and Engineering, The University of Aizu, Aizuwakamatsu, Fukushima, Japan

    Taku Matsumoto, Yoshiaki Oyama & Keitaro Naruse

  2. Revitalization Center, LICTiA, The University of Aizu, Aizuwakamatsu, Fukushima, Japan

    Jun Ogawa & Keita Nakamura

Authors
  1. Taku Matsumoto
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  2. Yoshiaki Oyama
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  3. Jun Ogawa
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  4. Keita Nakamura
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  5. Keitaro Naruse
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Corresponding author

Correspondence to Taku Matsumoto.

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Matsumoto, T., Oyama, Y., Ogawa, J. et al. Mechanism of generating drawbar pull of rod wheel on loose soil. Artif Life Robotics 22, 503–508 (2017). https://doi.org/10.1007/s10015-017-0384-z

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  • DOI: https://doi.org/10.1007/s10015-017-0384-z

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