Modular 4WD agricultural robot for cutting, collection, and precision seeding: design and simulation-based evaluation

Area of Science:

• Agricultural Robotics
• Sustainable Automation
• Mechanical Engineering

Background:

• Current agricultural automation lacks integrated multi-functional platforms.
• Need for efficient, sustainable solutions in campus and small-scale farming.

Purpose of the Study:

• To present a novel modular four-wheel differential-drive (4WD) autonomous platform.
• To integrate grass cutting, collection, leaf crushing, and precision seeding functionalities.
• To evaluate the platform's performance, robustness, and sustainability.

Main Methods:

• Modular toolhead design with quick-release mechanism.
• Vertically stacked two-unit architecture for optimized subsystem placement.
• Energy budget modeling for operational runtime prediction.
• Simulation of coverage-path algorithms (boustrophedon pattern).
• Robustness simulations for debris deflection, slope climbing, and stone ingestion.
• Finite-element analysis for structural integrity assessment.

Main Results:

• Predicted runtimes: cutting (1.2 h), crushing (2.0 h), seeding (8.0 h).
• Boustrophedon path algorithm ensures complete rectangular coverage with minimal redundancy.
• High debris deflection (>95%), operational slope limit (~25°), and low stone ingestion probability (~10%).
• Chassis demonstrates high safety factors (>15) with negligible stress/deformation.
• Outlined composting pathways for collected biomass to enhance sustainability.

Conclusions:

• The proposed modular 4WD platform successfully integrates multiple agricultural tasks.
• The design emphasizes serviceability, structural robustness, and environmental benefits.
• The platform shows promise for campus and small-scale agricultural automation.