Design Evolution and Kinematic Modeling of Swerve-Drive Robotic Platforms with Proposed Embedded and Electrical Architecture for Agricultural Applications

Cayo E.H.; Velasquez J.S.M.; Contreras J.M.P. · Proceedings of the 9th International Conference on I-SMAC (IoT in Social, Mobile, Analytics and Cloud), I-SMAC 2025 (2025) · DOI: 10.1109/i-smac65734.2025.11597775

Resumen

This research focuses on developing a traction and steering system for an agricultural robot designed to operate in unstructured, off-road terrains requiring high maneuverability in confined spaces. Four low-scale robotic configurations were prototyped and evaluated, with the six-wheel drive (6WD) and sixwheel steering (6WS) swerve configuration showing superior mobility. A conceptual mechanical design analysis defined operational limits, including the maximum permissible inclination angle before rollover, emphasizing adaptability to irregular agricultural terrains through an articulated mobility system. The robot's kinematic behavior was modeled-covering both forward and inverse kinematics-to assess mobility and maneuverability. Three steering modes were implemented and analyzed: double Ackermann, zero-radius rotation, and fully aligned steering. A full-scale CAD model was developed, and Finite Element Method (FEM) structural analysis was performed to determine mechanical feasibility and critical load conditions for future realscale construction. Additionally, the paper presents the embedded control architecture and electrical design of the prototype, highlighting the system's evolution toward a fully integrated, electrically driven robotic platform.

Instituciones: Universidad Católica San Pablo