Development and performance evaluation of a grass-cutting attachment for an autonomous off-road platform

Abstract

• Developed a modular grass-cutting attachment for an autonomous off-road platform, enhancing task flexibility and enabling scheduled, autonomous field maintenance to reduce labor dependency. • The system enhanced the platform's ability to meet diverse agricultural and landscaping needs. • The system achieved average cutting rate of 26.04 m 2 · m i n − 1 and 26.23 m 2 · m i n − 1 on flat and sloped fields, respectively. • The system energy consumption recorded 0.269 k W h · h − 1 in flat areas and 0.292 k W h · h − 1 in sloped, bumpy terrain, with an 8 % increase in power demand on uneven surfaces. • The developed system measured an average sound level of 67.3 dB, 74.3 dB, and 76.2 dB at 50 %, 75 %, and 100 % operating capacity. System sound levels of 67.3 dB at 50 % load, making it quieter than conventional mowing equipment Compact and modular unmanned ground vehicles represent a transformative approach to addressing critical challenges in the global agricultural industry, potentially significantly enhancing total factor productivity. This study focuses on the development and performance evaluation of a grass-cutting attachment designed for the Adam robot, an autonomous open mobility platform specifically designed for off-road applications to underscore the potential of integrating autonomous platforms with purpose-built attachments to revolutionize modern agricultural practices. The main objectives were to improve the system's applicability, facilitate multifunctional land management, reduce labor dependency, and provide a versatile tool for data-driven, optimized vegetation control. The designed system was a grass-cutting attachment incorporating a single medium-lift blade powered by a direct rotary electric motor and an electro-hydraulic height adjustment mechanism. Performance evaluations were conducted based on parameters including cutting efficiency, power consumption, durability and wear, ease of use, safety, maintenance requirements, environmental impact, cost-effectiveness, versatility, and mulching capability, all assessed according to established standards. Results showed an average cutting rate of 26.04 m 2 · m i n − 1 and 26.23 m 2 · m i n ( − 1 ) on flat and sloped fields, respectively, with consistent high-quality cutting and mulching performance. The system's average input power was measured at 281.3 W, and sound levels were recorded at 67.3 dB, 74.3 dB, and 76.2cdB at 50 %, 75 %, and 100 % operating capacity, respectively. While the overall performance was deemed acceptable, areas such as installation methodology, some power criteria, and safety systems present opportunities for refinement in future iterations.