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

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.