AgAR: A MULTIPURPOSE ROBOTIC PLATFORM FOR THE DIGITAL TRANSFORMATION OF AGRICULTURE

11th International Scientific Conference Research and Development of Mechanical Elements and Systems IRMES (2025) [pp. XXIII-XXXI]  

AUTHOR(S) / АУТОР(И): Milan BANIĆ , Lazar STOJANOVIĆ , Marko PERIĆ , Damjan RANGELOV , Vukašin PAVLOVIĆ , Aleksandar MILTENOVIĆ , Miloš SIMONOVIĆ

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DOI: 10.46793/IRMES25.plA4B

ABSTRACT / САЖЕТАК:

The paper presents the design and engineering rationale behind AgAR, a multipurpose robotic platform developed to address the evolving needs of digital agriculture. The AgAR platform represents a significant advancement in unmanned ground vehicles (UGVs) by integrating a hybrid active-passive suspension system that ensures dynamic leveling and adaptable chassis geometry, enabling safe operation on complex terrains including steep inclines up to 30°. The paper first provides a comprehensive review of state-of-the-art UGVs in agriculture, analyzing mobility strategies, suspension concepts, powertrain options, and implement integration. Building on these insights, the AgAR platform is introduced with a focus on mechanical design, emphasizing modularity, high torque electric drivetrains, standardized agricultural implement compatibility, and fast battery swapping to enable long operational autonomy. AgAR’s structural components were optimized using a digital twin approach to reduce weight while maintaining strength, thereby increasing efficiency and reducing soil compaction. Comparative analysis demonstrates that AgAR uniquely combines terrain adaptability, multi-task versatility, and system level robustness. These attributes position AgAR as a scalable, cost-effective solution suitable for a wide range of agricultural operations, from precision monitoring to heavy implement deployment. The paper concludes by identifying future design trends in agricultural UGVs informed by the AgAR development process.

KEYWORDS / КЉУЧНЕ РЕЧИ:

Unmanned Ground Vehicle (UGV); Agriculture robot; Mechanical design; Hybrid suspension; Design advantages

ACKNOWLEDGEMENT / ПРОЈЕКАТ:

The AGAR development was partially financed by the Innovation Fund in Serbia from the Pre-Accession Funds of the European Union and the budget of the Republic of Serbia from the Ministry of Science, Technological Development and Innovation of the Republic of Serbia and supported by the StarTech support program implemented by NALED and funded by Philip Morris International.

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