Design Issues and in Field Tests of the New Sustainable Tractor LOCOSTRAReport as inadecuate




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1

Snail Aid—Technology for Development, Via Montallegro5-3, Genoa 16145, Italy

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PMAR Robotics Group, Department of Mechanics, University of Genoa, Via AllOpera Pia 15-A, Genoa 16145, Italy

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Pierre Trattori snc, Via Novi 19, 15060 Silvano Dorba AL, Italy





*

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Abstract This paper presents a robotized small tractor designed to perform humanitarian demining operations and agricultural operations when demining is accomplished. This dual use makes this system unique. The focus is on the design of the machine, including the modeling for design and control, the characteristics of the tools operated by the machine, the motion control at tele-operated, and semi-autonomous levels. The mechatronic design process applied uses sustainable design strategies. Technical contributions are in the tractor architecture, designed to make automation easier, and in the control functions implemented on this architecture. Extensive field tests were performed in different sites; first, in Italy, focusing on the agricultural application of the machine, in natural scenarios with different ground and vegetation; then, in two real mine fields in Jordan focusing on the performance for technical survey in humanitarian demining. The tests have confirmed the performance for both task categories agricultural and demining, confirming the correctness of the statement. For the demining application, the machine has been assessed by professional users confirming the acceptance to field use and the novelty of the concept. View Full-Text

Keywords: agricultural automation; ground processing; 4WD articulated steering mobile platform; mechatronic design; modular tractor; articulated steering dynamic model; field tests agricultural automation; ground processing; 4WD articulated steering mobile platform; mechatronic design; modular tractor; articulated steering dynamic model; field tests





Author: Emanuela Elisa Cepolina 1, Michał Przybyłko 2, Giovanni Battista Polentes 3 and Matteo Zoppi 2,*

Source: http://mdpi.com/



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