Design and Experimental Verification of a Lightweight Pure Electric Agricultural Robot Chassis Supported by Real-Time Tension Monitoring

In order to investigate the application potential of lightweight agricultural robots utilizing carbon fiber-reinforced polymer (CFRP) as the primary structural material, this study developed a dedicated rubber-tracked chassis tailored for peanut pest and disease monitoring robots. The chassis design is anchored to the widely applied “single ridge with double rows” cultivation pattern in peanut production and incorporates a real-time track tension monitoring mechanism integrated with pressure sensors. The overall structural configuration of the chassis fully conforms to the standard ridge parameters of mechanized peanut planting while fully considering the intrinsic material properties of CFRP. Additionally, a sprocketless drive wheel structure is specifically adopted to realize higher-precision motion control performance. A mathematical model was constructed to quantitatively characterize the tension correlation between the tight side and slack side of the rubber track, as well as the variation law of initial tension influenced by multiple factors including the total mass of the robot platform. With the curb weight of the robot platform set at 45 kg, the theoretical initial tension is calculated to be 24.5 N (equivalent to approximately 2.5 kg, taking the gravitational acceleration g = 9.8 m/s2). The prototype shows potential for maintaining consistent tension, though a mechanical weakness was identified and will be addressed in future work. Performance validation tests show that the chassis maintains stable operation with no sprocket slippage during field visual inspection.