Fluid-Dynamic and Structural Optimization of a Suction-Enabled Autonomous Grass-Cutter Robot
Autonomous grass-cutter robots are increasingly important for precision agriculture and turf management, offering the potential to reduce labour costs, improve safety, and enhance operational efficiency. However, existing design studies typically address individual subsystems in isolation, lacking a...
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Elsevier
2025-09-01
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| Series: | Results in Engineering |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2590123025025149 |
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| author | Shenoy Adithya Kamalaksha Abhishek Kumar Rithvik Marneni Kamarul Arifin Ahmad Spoorthi Singh Sharul Sham Dol |
| author_facet | Shenoy Adithya Kamalaksha Abhishek Kumar Rithvik Marneni Kamarul Arifin Ahmad Spoorthi Singh Sharul Sham Dol |
| author_sort | Shenoy Adithya Kamalaksha |
| collection | DOAJ |
| description | Autonomous grass-cutter robots are increasingly important for precision agriculture and turf management, offering the potential to reduce labour costs, improve safety, and enhance operational efficiency. However, existing design studies typically address individual subsystems in isolation, lacking a unified framework for comparative evaluation of multi-wheel configurations. To fill this gap, this work introduces a novel, multi-domain integration framework combining structural finite-element analysis (FEA), computational fluid dynamics (CFD) with analytical ΔP–Q and Reynolds number modelling, URDF-based Webots simulation, and Python-driven parametric studies, a unified approach not found in prior grass-cutter robot studies. Key highlights of the paper include: structural optimization, an aluminium 6061-T6 backbone with acrylic panels delivers a 15 % mass reduction while maintaining a safety factor ≥ 2.0 under peak loads; suction performance, comparative CFD and Darcy–Weisbach analyses of duct geometries identify the S-type as optimal, with a validated pressure drop of ∼0.85 kPa and turbulent intensity ∼3.8 % promoting effective debris entrainment; mobility assessment, Webots simulations reveal that a six-wheel chassis enhances traction by 18 % but incurs 12 % higher rolling resistance relative to a four-wheel variant. Analytical modelling modules estimate grass-cutting power, battery endurance (with Peukert’s correction), and terrain sensitivity, enabling rapid design optimization. The inclusion of both simulation and fluid-theoretic validation, including Reynolds number, Darcy–Weisbach analysis, and turbulence intensity estimation, offers a robust methodology for optimizing suction flow performance. This integration not only strengthens mechanical and aerodynamic validation but also supports the sustainable development of closed-loop, compost-capable autonomous grass-cutting platforms. |
| format | Article |
| id | doaj-art-16c8c260aa8a448a8c577b28d628a539 |
| institution | Kabale University |
| issn | 2590-1230 |
| language | English |
| publishDate | 2025-09-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Results in Engineering |
| spelling | doaj-art-16c8c260aa8a448a8c577b28d628a5392025-08-20T03:58:18ZengElsevierResults in Engineering2590-12302025-09-012710644510.1016/j.rineng.2025.106445Fluid-Dynamic and Structural Optimization of a Suction-Enabled Autonomous Grass-Cutter RobotShenoy Adithya Kamalaksha0Abhishek Kumar1Rithvik Marneni2Kamarul Arifin Ahmad3Spoorthi Singh4Sharul Sham Dol5Mechatronics Department, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal, Karnataka 576104, IndiaMechatronics Department, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal, Karnataka 576104, IndiaMechatronics Department, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal, Karnataka 576104, IndiaAerospace Dept. Faculty of Engineering, University Putra Malaysia, UPM-Malaysia, Serdang 43300, Malaysia; Mathematics Research Institute, University Putra Malaysia, Selangor 43300, MalaysiaMechatronics Department, Manipal Institute of Technology, Manipal Academy of Higher Education, Manipal, Karnataka 576104, India; Corresponding authors.Mechanical And Industrial Engineering Department, Abu Dhabi University, Abu Dhabi 59911, United Arab Emirates; Corresponding authors.Autonomous grass-cutter robots are increasingly important for precision agriculture and turf management, offering the potential to reduce labour costs, improve safety, and enhance operational efficiency. However, existing design studies typically address individual subsystems in isolation, lacking a unified framework for comparative evaluation of multi-wheel configurations. To fill this gap, this work introduces a novel, multi-domain integration framework combining structural finite-element analysis (FEA), computational fluid dynamics (CFD) with analytical ΔP–Q and Reynolds number modelling, URDF-based Webots simulation, and Python-driven parametric studies, a unified approach not found in prior grass-cutter robot studies. Key highlights of the paper include: structural optimization, an aluminium 6061-T6 backbone with acrylic panels delivers a 15 % mass reduction while maintaining a safety factor ≥ 2.0 under peak loads; suction performance, comparative CFD and Darcy–Weisbach analyses of duct geometries identify the S-type as optimal, with a validated pressure drop of ∼0.85 kPa and turbulent intensity ∼3.8 % promoting effective debris entrainment; mobility assessment, Webots simulations reveal that a six-wheel chassis enhances traction by 18 % but incurs 12 % higher rolling resistance relative to a four-wheel variant. Analytical modelling modules estimate grass-cutting power, battery endurance (with Peukert’s correction), and terrain sensitivity, enabling rapid design optimization. The inclusion of both simulation and fluid-theoretic validation, including Reynolds number, Darcy–Weisbach analysis, and turbulence intensity estimation, offers a robust methodology for optimizing suction flow performance. This integration not only strengthens mechanical and aerodynamic validation but also supports the sustainable development of closed-loop, compost-capable autonomous grass-cutting platforms.http://www.sciencedirect.com/science/article/pii/S2590123025025149Turbulent duct flowReynolds numberPressure drop analysisDarcy–Weisbach modellingCFD validationAgricultural robotics |
| spellingShingle | Shenoy Adithya Kamalaksha Abhishek Kumar Rithvik Marneni Kamarul Arifin Ahmad Spoorthi Singh Sharul Sham Dol Fluid-Dynamic and Structural Optimization of a Suction-Enabled Autonomous Grass-Cutter Robot Results in Engineering Turbulent duct flow Reynolds number Pressure drop analysis Darcy–Weisbach modelling CFD validation Agricultural robotics |
| title | Fluid-Dynamic and Structural Optimization of a Suction-Enabled Autonomous Grass-Cutter Robot |
| title_full | Fluid-Dynamic and Structural Optimization of a Suction-Enabled Autonomous Grass-Cutter Robot |
| title_fullStr | Fluid-Dynamic and Structural Optimization of a Suction-Enabled Autonomous Grass-Cutter Robot |
| title_full_unstemmed | Fluid-Dynamic and Structural Optimization of a Suction-Enabled Autonomous Grass-Cutter Robot |
| title_short | Fluid-Dynamic and Structural Optimization of a Suction-Enabled Autonomous Grass-Cutter Robot |
| title_sort | fluid dynamic and structural optimization of a suction enabled autonomous grass cutter robot |
| topic | Turbulent duct flow Reynolds number Pressure drop analysis Darcy–Weisbach modelling CFD validation Agricultural robotics |
| url | http://www.sciencedirect.com/science/article/pii/S2590123025025149 |
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