Wheel driving force model of rice field weeding robot in loose soil

Abstract

The objective of this paper is to present the development of a robot wheel for a paddy field. Since the soil of a paddy field is a soft, a wheel often breaks it, and a robot cannot move forward. We have developed a new wheel, which is composed of a set of bar shape lugs, yielding an enough driving force with less breaking of the soil. The force model of the wheel is developed and verified with experiments.