Mechanism of generating drawbar pull of rod wheel on loose soil

摘要

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.