This study examines the fuel performance characteristics of a wheeled tractor transporting a trailer tank under varying load conditions within standardized driving cycles (ELR, EPA, and NRTC). A mathematical model of the tractor–trailer system was developed in MATLAB/Simulink, incorporating the dynamics of the FPT NEF 67 internal combustion engine, the transmission and wheel drives, as well as the effects of fluid redistribution in the tank. The model enables evaluation of instantaneous fuel consumption, specific fuel consumption, effective power, and engine efficiency under dynamic operating modes. Particular attention is given to the impact of fluid sloshing on energy expenditure, which is most pronounced at a tank fill height of 1.3 m (out of 1.6 m), corresponding to resonance conditions. The results demonstrate that the dynamic characteristics of the driving cycles have a significant impact on additional fuel consumption: NRTC yields the highest relative increase (9.22%), EPA the highest absolute increase (6.76%), and ELR the lowest (4.72%). These findings provide a basis for optimizing tractor operation during liquid cargo transport and for assessing the potential benefits of hybridizing tractor transmission systems in transport applications.

Abstract Abstract—This study investigates the efficiency and effectiveness of a Fuzzy Logic Adaptive Control (FLAC) system designed to regulate the TCS for longitudinal-wheel dynamics in In-Wheel Motorized Electric Vehicles (IWM-EVs), especially in challenging driving scenarios such as slippery ice roads. The FLAC system integrates a Fuzzy Logic Controller (FLC) and a Proportional-Integral (PI) controller, employing adaptive parameters based on wheel slip dynamics. Numerous controlled wheel slip models are compared through MATLAB simulations to identify the most stable and efficient approach. In addition to offline simulations, the proposed control strategy was validated through real-time Model-in-the-Loop (RT-MIL) implementation on an OPAL-RT platform to assess its performance under deterministic execution constraints. The real-time results confirm the robustness and practical feasibility of the FLAC-based traction control approach. A detailed analysis of the FLC-PI controller operations underscores its ability to dynamically adjust the torque requests to optimize the wheel slip and vehicle dynamics, further emphasizing the effectiveness of the FLAC system in enhancing vehicle control under diverse driving conditions.

The paper addresses topical issues of design and parameter synthesis of an electromechanical transmission for a wheeled tractor under increasing requirements for energy efficiency and reduction of environmental impact. It is shown that the implementation of hybrid and electromechanical transmissions in agricultural machinery is a promising direction in the development of modern tractor engineering, as it enables smooth control of speed and torque without interruption of the power flow and ensures proper matching between the power unit characteristics and the load. The results of domestic and international studies devoted to tractor electrification, selection of electric drive architectures, parameters of electric machines and transmission components, as well as methods for modeling and optimization of power flows, are analyzed. It is established that most existing works consider the electromechanical transmission as a part of the electric drive system as a whole, which limits the possibility of its targeted parameter synthesis with regard to the specific operating conditions of a wheeled tractor. The aim of the study is to substantiate the selection of an electromechanical transmission layout based on the power-flow summation principle and to perform its kinematic and force analysis. A transmission scheme with two planetary gear sets is proposed, in which one element of the first gear set is locked, while the second gear set functions as a power-flow summator. It is shown that transmitting the power flow from the internal combustion engine through the sun gear of the second planetary gear set ensures a well-defined distribution of energy flows and creates prerequisites for improving transmission efficiency. The obtained results can be used as a basis for further synthesis of parameters of electromechanical transmissions for wheeled tractors.

Elevator traction wheel groove wear recognition based on lightweight YOLOv8 and sub-pixel edge detection

Indian economy is based on agriculture. In India farmers are facing problems due to unavailability of labour, non-efficient farming equipment’s which takes lot of time and also increases labour cost. Sowing seeds at recommended spacing and depth is important for the proper establishment, growth and yield of plants. As per change in shape and size of different seeds the parameters like row spacing and seed to seed spacing, depth of seed, seed rate changes. This research is taken to produce multifunctional and highly efficient multi crop seed sowing machine which will reduce time of sowing, cost of labour and enhances yield and maintain seed to seed and row to row spacing. In the existing planters, the seeds are dropped on the soil behind furrow opener from the end of seed tube having turbulent flow. However, due to improper seed singulation, vibrations of tractor and forward drag of seed along with soil by the furrow openers which causes deviation in uniformity of seed spacing. In the existing planters, the seed metering mechanism gets drive from ground wheel. Slippage of ground wheel affects the uniformity of spacing. The hand push seeder available in the market commonly used for sowing cotton, maize, soyabean, gram etc. are hand push type and requires human power for operating in field which causes fatigue to operator and requires hard work. These research address to eliminate all the above challenges, remove hard work and reduce requirement of labour or human power, increases speed of sowing, helps in reducing the motion losses and maintain uniform seed spacing and desire seed rate and can used for different crops, gram, cotton, maize, soyabean, gram etc. by making adjustment. The sowing of different crop seeds by single planter can be easily done by adjusting the seed rollers and number of teeth or nozzles on drum. During laboratory testing, In stationary calibration of planter the seed rate was found to be 37.088 kg/ha for chickpea (Jaki 9218) and fertilizer rate was found to be 78.68 kg/ha for (DAP Godavari). The sticky belt method is performed at three different speeds i.e. 2.5 km/h, 3km/h and 3.5 km/h. For each speed the test is performed for three times and missing index, multiple index, and quality feed index is calculated. The maximum quality feed index was found at a speed of 3 km/h is 100%. Thus, forward speed of 3 km/h is taken further for field trials. During field trials, Overall performance of machine was satisfactory. The three trials are taken to get accurate observations. The average theoretical field capacity, effective field capacity was found to be 0.592 ha/h, 0.467ha/h respectively and field efficiency was found to be 78.33 %. The moisture content of soil and bulk density of soil was found to be 11.71 % and 1.66 g/cc. The mean seed spacing was found to be 15.22 cm. The coefficient of uniformity for field trial was found 88.71 %. The average missing index, Multiple index and quality feed index was 1.01%, 0.66%, 88.31%, respectively. The average seed rate and fertilizer rate for three field trials was 46.55 kg/h and 83.32 kg/h. The average draft of the machine is found to be 0.312 kg-f. The average ground wheel slippage of planter was found 3.56. The average tractor wheel slippage of planter was found 6.63. For three field trials, the average fuel consumption was found to be 5.637 l/ha and 2.46 l/h. The average cost of the sowing operation was 223.4 Rs per hour.

The predictive accuracy of the Bekker–Wong model for wheel traction is highly dependent on the precision of the wheel–soil contact angle parameters. These parameters are typically identified through extensive and costly single wheel–soil tests, which are limited by poor experimental repeatability and site-specific constraints. This study proposes a method for obtaining contact angle parameters through numerical simulation. Firstly, a finite element model of an off-road tire is established. The Drucker–Prager (D-P) constitutive model parameters of clay under different moisture were calibrated by soil mechanical tests. And then the moist clay was modeled through the SPH algorithm. An FEM–SPH interaction model was developed to define the tire–moist clay interaction. Meanwhile, the tire–moist clay interaction model was verified by a single wheel–soil test device. To identify the empirical parameters of tire–soil interaction, numerical simulations were conducted for multiple operating conditions involving different slip ratios, soil moisture contents, and vertical loads. By processing the simulated wheel–soil contact characteristic images, the contact angles for each condition were extracted. Finally, the contact angle parameters in the Bekker–Wong model were identified. The empirical parameters were integrated into the Bekker–Wong model to predict traction. The results indicate that the maximum relative error of traction force between the prediction and experiment did not exceed 13.6%, which validated the reliability of the proposed method.

Seeding control by a seed drill is the process of ensuring uniform and accurate seed distribution in the field during sowing. Digitalization of the system and the use of a modern tablet as a display module will significantly expand its functionality. The goal of this work is to test the software for the seeding control system by a seed drill and evaluate its accuracy, reliability, and performance under conditions simulating real-world use. A software algorithm has been developed for transmitting information between the sensor module and the display module. This algorithm provides for automatic connection of the sensor module to the display module upon tablet activation, transfer of all necessary settings to the sensor module, continuous data exchange via UDP with a request-response architecture, and display of all system status information: short circuit detection, connection status with each sensor, speed indication, seeded area, on-board voltage, and the seeding rate of each sensor. An algorithm has been developed for processing a status byte consisting of 5 flag bits: tractor movement, seed passage through the sensors, passage of one and four tractor wheel laps, and short circuit (SC) presence. The process of adding packets to the packet sending buffer is described, based on the status byte flags. Tests were conducted on a laboratory bench simulating the operation of a 12-row seeder. Seeds (soybeans), a specified seeding rate of 80,000 pcs/ha, and a travel speed of 10 km/h were used. The following indicators were considered: seeding registration accuracy, system response time, reliability (number of software errors), and seeding rate calculation accuracy. The following test results were obtained: seeding registration accuracy was 99.8%, response time was 120 ms, no software errors over 10 hours of continuous operation, and seeding rate calculation accuracy was 99.5%. The obtained results are satisfactory for similar systems.

The method of determining the transmission mode of the universal wheeled traction and transport vehicle – UWTTV (Unimog/Autotrak type) of category N1/T1 has been developed from the conditions of both transport functions on highways and technological functions in off-road conditions, including mechanical tillage. Using the aggregate base of a heavy jeep developed by JSC “Ukrautobusprom”, class Oshkosh L-ATV, the avant-project of UWTTV TUR KT 041 with a semi-hooded cabin layout for 3 people, a cargo platform for 1.2 tons (or a building for technological equipment) and a system of trailed / mounted equipment has been developed. From the conditions of maximum unification of power drive units– engine, basic mechanical gearbox and main gears, the method of calculating the gear ratio, which reduces the transfer case transmission for performing technological operations, has been developed. For the most energy-intensive of them – plowing of agricultural land with a plow – a calculation method is presented with an orientation to a certain class of traction on the hook (here 1.4 t) in the conditions of a standardized agricultural background for wheeled tractors. The adequacy of the method is assessed by comparing the results of simulation modeling of the plowing process in the MATLAB Simulink software environment and experimental data using the example of a T 150K wheeled tractor.

To tackle the challenges faced by traditional wheeled tractors, whose steering systems have low flexibility and a large turning radius, and thus make turning hard in small fields and greenhouses, this paper proposes a differential steering control technology for battery-electric unmanned tractors. This innovative approach enables zero-radius turning while delivering environmental and economic advantages. Firstly, the system architecture and key components of the battery-electric unmanned tractor with differential steering are designed, including the mechanical structure, wheel-drive system, electrical system, and power battery. Based on the proposed system architecture, a multi-physics coupled model is established, covering the motor, reducer, battery, driver, vehicle body, and the relationship between tires and road surfaces. A multi-closed-loop control algorithm, regulating both the motor speed and yaw angular velocity of the tractor, is developed for differential steering control. The validation, conducted via a digital simulation platform, yields critical state curves for motor current, torque, speed, and vehicle rotation. This study establishes a novel theoretical framework for unmanned tractor control, with prototype development guided by the proposed methodology. Experimental validation of zero-radius steering confirms the efficacy of differential steering in battery-electric platforms. The research outcomes provide theoretical basis and technical references for advancing intelligent and electric agricultural equipment.

Wheeled tractors offer advantages in downhole operations, including high efficiency and extended reach, yet traction force improvement is often constrained by non-synchronized motion between multiple sections. This paper proposes a novel modular wheeled tractor with an outer diameter of 80 mm, a single-section traction force of 2000 N, and a design speed of 167 mm/s. Its core innovation is a modular joint structure based on rotary slip rings, which enables independent control of each traction section and ensures torsion-free transmission of power and signals. Based on this design, a traction dynamics model for horizontal wells was established to analyze the dynamic characteristics under synchronized motion, differential motion, and angular velocity fluctuations. Simulation results identify differential motion among drive wheel sets as the key factor causing systemic slippage and limiting traction performance. A single-section prototype was developed and tested using a full-scale experimental system. Under loaded conditions, it achieved a maximum traction force of 2240 N at a speed of 125 mm/s, thereby verifying the correctness and reliability of the proposed structure and control system. This research provides an effective technical pathway for enhancing the traction capacity of coiled tubing tractors and reducing petroleum exploration and development costs.

The stability of movement of wheeled tractors is one of the main factors contributing to the reduction of energy costs. Modern developments related to the improvement of the design of agricultural tractors, solving the problems of increasing their efficiency face a number of difficulties caused by unstable processes when moving on inclined support surfaces. The issue of modernizing the tractor design should be considered in the parametric aspect of the implementation of its own frequency and shape of oscillations that affect its stability of movement in the technological corridor. A complex task to improve the manufacturability of the tractor must necessarily take into account the fact that new elements change the entire system. Therefore, at the stage of developing a new or modernizing a serial mobile machine, reliability is necessary when determining the dynamic characteristics.The conducted calculation and theoretical studies of the mechanical processes of the power transmission of a self-propelled chassis of class 1.4 of the classic layout with the developed enlarged calculation scheme of the “Belarus 992” tractor (for fourteen elements of distributed mass) in an aggregate with a KRN-5.6 cultivator. Formed the basis for the creation of a method for calculating the frequency and shape of natural oscillations. The “Machine-tractor unit (MTU)” system has a fairly high value of the frequency of free oscillations, which allows calculating the operating conditions of the structure in long-term operating modes at frequencies close to resonance. A change in the spectrum of the frequency of natural oscillations of the system can serve as an additional wear of parts, tires, etc. When studying the developed “MTU” system, the method described by Professor V.A. Lashko was taken as a basis, and the matrix method was also used. Matrix forms of recording the equations of motion of the torsional-oscillatory system of the “MTU” with many degrees of freedom are convenient for calculations to determine the amplitude-frequency characteristics. To calculate the torsional-oscillatory system of the power transmission of a self-propelled chassis aggregated with a cultivator, a dynamic model was developed representing the variational possibilities of analyzing the combination of the factors and parameters under study.

The study objective is to develop an unmanned vehicle for robotizing transport and warehouse operations at logistics enterprises. It is shown that robotization of transport operations in warehouses increases productivity and labor safety, helps to minimize manual labor, and increases the efficiency of warehouse operations. The concept of an unmanned transport system for robotizing warehouse logistics is presented, which is a mobile wheeled robot equipped with a lifting cargo platform and providing net load transportation with the possibility of self-unloading. Based on mathematical simulation methods, a model of a transporting module of a delivery robot has been developed, which makes it possible to study the kinematic parameters of its movement. A numerical study of the robot transport platform on a computer using a package of simulation software is carried out. A strength analysis of the most loaded structural elements of the robot frame is performed, which makes it possible to determine its load capacity and confirm the operability of the proposed structure. The novelty of the work is in developing a technique for studying the computational geometric model of the robot frame, which allows to identify critical areas in the design of the drive wheel axis of an electromechanical differential drive. The results of the conducted research provide prerequisites for developing an automatic control system of the delivery robot, ensuring the autonomy of its functioning. Conclusions: a mathematical model of an unmanned transport system for robotizing warehouse logistics is developed, its operating modes are studied, and a control method is proposed through a point with coordinates that are input into a special regulator of the control system for electric drives of traction wheels.

About ways to reduce the slippage of the driving wheels of a wheeled tractor when it moves along the soil surface in a unit with a wheeled technical means without tillage

Improvement of traction performance of a wheeled tractor with an articulated frame

The energy use in field preparation is of great concern for scientists and farmers. Among all field operations, conventional tillage requires highest amount of energy input. It requires several passes of various soil-turning and soil-pulverizing equipments requiring more time, fuel and labor. Moreover, several passes of tractor with tillage implement increase soil compaction. The combination tillage implement comprises combination of either active and passive or passive and passive tillage implements. In case of passive implements, power losses are more at tire-soil interface and also a considerable weight is required on drive wheels of tractor to provide necessary traction that results into detrimental soil compaction. Active tillage implements require considerable power per unit width as they till a greater volume of soil than is required in most field crop systems. Investigations are presently being carried out on combined tillage equipment to the complete the tillage and sowing operation in one pass. The present study was conducted on the development of active-passive and passive-passive combination of tillage implements suitable for mini tractor. The combination tillage implement such as cultivator- single acting disc harrow(C-DH), cultivator with clod crusher (C-CC) and rotavator with tines (R-T) were developed. The developed tillage implements were evaluated under actual field condition at different depths and operating speeds. The tillage performance parameters such as draft force, fuel consumption wheel slip, soil inversion and fuel efficiency were measured. The drawbar power requirement of the combination tillage implement was calculated. During field evaluation it was observed that the draft force of the cultivator with disc harrow (C-DH) found to vary from 190 to 220 kgf, and that of cultivator with clod crusher(C-CC) found to vary from 86 to 101 kgf and rotavator with tines (R-T) found to vary from 166 to 137 kgf. The fuel consumption of the (C-DH) found to vary from 2.897 to 3.79 L h-1, (C-CC) found to vary from 2.846 to 3.822 Lh-1 and (R-T) found to vary from 2.195 to 3.225 L h-1. The wheel slip of the driving wheels of the tractor with developed implements found to vary from. 5.6 to 7.8 per cent. The field efficiencies of developed tillage implement found to vary from 81.5 per cent to 90.7 per cent as well as the soil inversion of the combination tillage implement vary from 46.1 to 92.35 per cent.

Electro-hydraulic compound steering systems (EHCSS) adopted by distributed-drive articulated trucks (DATs) provide the probability of further realizing active steering safety (ASS). However, due to the DATs’ articulated mechanical structure characteristics, a singular control strategy frequently cannot effectively solve lateral stability problems such as jackknifing. Hence, this paper proposes a novel control strategy integrating active steering, torque vectoring, and differential braking to suppress the jackknife with improved lateral stability and less longitudinal speed loss. Firstly, a non-hierarchical dynamic model fused with EHCSS is established, and the Artemisinin Optimization Algorithm (AOA) is then applied to model parameter majorization. Afterwards, an advanced strategy is developed to suppress the jackknife of DATs. Specifically, the proposed anti-jackknifing control strategy is realized through the active steering of the front tractor wheel to track the ideal trajectory, the torque vectoring control of the rear tractor wheel, and the differential braking of the trailer. Finally, Hardware-in-the-Loop (HIL) experiments are performed to prove the validity and feasibility. The experiment results illustrate that the proposed strategy is markedly effective in anti-jackknifing. Compared to the control groups, the maximum slip angles of the tractor and trailer are improved by 47.86% and 84.26% respectively, and the maximum yaw rates are improved by 70.20% and 51.71%.

This study examines the natural frequency and frame vibration pattern of the tractor vibration system, with an agricultural wheeled tractor serving as the research object. Theoretical natural frequencies of vertical and pitching vibrations for a planar vibration model of a tractor with two-degree-of-freedom biaxial rigid suspension were derived, and experiments were conducted to test the vibration characteristics and natural frequency of a tractor traveling at moderate speeds on a Class D road surface. Modal analysis of the structure of the tractor frame was then carried out using ANSYS Workbench software. The findings indicate that the vertical and pitching vibrations of the fuselage are interrelated, with the natural frequency being contingent upon the mass of the tractor, the rotational inertia, the stiffness coefficients of the front and rear tires, and the axle spacing of the front and rear axles. The vertical vibration intrinsic frequency is mainly affected by the “mass + front and rear tire stiffness”, the pitch vibration intrinsic frequency is determined by the “moment of inertia + front and rear wheel stiffness + wheelbase” together. The natural frequency of the tractor fuselage resulting from engine operation is predominantly concentrated within the 0–40 Hz range. The natural frequency of the tractor vibration system is primarily concentrated within the range of 3 to 5 Hz. The peak natural frequency of the front axle is markedly higher than that of the rear axle, and the peak natural frequency in the pitch direction at the center of mass of the fuselage is higher than the natural frequency of the vertical vibration. The vibration amplitude in this frequency range can be reduced through frame optimization (e.g. optimizing the front and rear axle wheelbase and damping matching for the coupling characteristics of pitching vibration), which can directly improve comfort. The intrinsic vibration pattern of the tractor frame is predominantly a modal vibration pattern, characterised by overall vibration. The first, second and third orders represent first-order bending vibration patterns, while the fourth order indicates localised vibration. The fifth and sixth orders correspond to second-order bending vibration patterns. There is a “directional weak zone” in the overall stiffness distribution of the tractor frame, and the bending stiffness along the length direction of the frame presents “multi-region synergistic insufficiency”. It is necessary to eliminate the multi-order coupling basis of the first-order bending vibration through the “whole-area stiffness balanced design”, such as optimizing the spacing of the cross beams and adjusting the gradient distribution of the cross-section moment of inertia along the length direction. The intrinsic frequency of second-order bending vibration can be enhanced through “end stiffness enhancement design”, such as adding variable cross-section longitudinal beams at the rear of the frame and adopting bionic bending-resistant structures, to avoid the attenuation of dynamic performance under high-frequency working conditions.Supplementary InformationThe online version contains supplementary material available at 10.1038/s41598-025-18736-x.

The current state of agricultural land makes us think about the need to search for new, innovative methods of weed control since relying only on intensive chemical and historically justified mechanical processing of soil areas is not always justified today, due to the fact that nature is cumulatively inflicted with environmental damage and humus, and organic matter reserves in the soil continue to be uncontrollably depleted. It is proposed to use electric pulse weeding as a technologically and ecologically justified alternative to traditional methods. The conducted studies on the electrical conductivity of the weed plant tissue and processing current flow circuits, identifying the option of supplying electrical energy and damaging doses of energy, made it possible to justify the structure of the unit, consisting of a mover (wheeled tractor) and an electro-technological unit, as well as to evaluate the economic and agro-technological efficiency of its use in agricultural technologies. In principle, the unit consists of three main structural blocks: a movement power unit (a universal row-crop wheeled tractor), a power source and an electrode system. In order to achieve lower cost of the device and greater maneuverability of the unit, it is preferable to choose the option with a trailer generating unit and mounted units for increasing voltage, forming pulses and an electrode system. Analysis of the total energy costs during the electric pulse treatment of soil areas from weeds and unwanted plants, and their assessment during cultivation of winter wheat of the Mironovskaya Yubileynaya variety on the black fallow on the lands of the Volgograd region made it possible to reasonably consider such treatment to be less energyintensive compared to mechanical cultivation and chemical weeding on an area of 100 hectares, and also implemented with a minimal negative impact on the environment.

This research was conducted for enhancing the linearity (or straightness) of the movement of a seeding machine-tractor system (SMTS), encompassing both theoretical and experimental studies. The experimental studies were conducted using a SMTS as part of a classic all-wheel drive tractor and a pneumatic trailed seeder. Theoretical research of the SMTS was carried out for three versions of the initial parameters of the mathematical model. In the first version the speed of movement was v = 2.5 m∙s–1, the distance from the point of the seeder trailer to the centre of mass of the seeder was l5 = 2 m, and the pressure in the pneumatic tires of the tractor wheels was Pw = 0.10 МPа. In the second one, the speed of the unit is increased to v = 2.8 m∙s–1, the distance from the point of the seeder trailer to the centre of mass of the seeder is increased to l5 = 3 m, and the pressure in the tractor’s tires is Pw = 0.10 MPa. In the third versions, the pressure in the tractor tires is increased to 0.12 MPa. The difference between values O(1)(T), O(2)(T) of the trajectory of the movement of the centres of mass of the tractor and the seeder, determined during the theoretical research, and determined during the experimental research is 11%, and the discrepancy between the values of the rotation angles of the centres of mass is 9%; therefore, the mathematical model of the dynamics of the SMTS may be considered adequate.

The paper presents the results of functional tests of the removable caterpillar undercarriage system of the rear drive axle of the Belarus-622 tractor with the ability to regulate the contact area of the caterpillar with the supporting surface. Domestic and foreign experience in testing and operating undercarriage systems for various vehicles and machines is analyzed, including the experience of researchers from Denmark, Switzerland, Sweden, Norway, including in relation to vehicles equipped with removable tracked undercarriage systems. The lack of a general test methodology and taking into account specific factors, including the redistribution of pressure on the soil along the support branch of the caterpillar, was revealed. A calculation and comparison of the average pressure of the movers on the soil was carried out for a tractor of a basic wheeled design equipped with a traction caterpillar units (removable caterpillar undercarriage system) for the rear and both drive axles. This showed that even without increasing the contact area, a tractor with removable tracked undercarriage system only on the rear axle has a significantly smaller impact on the soil than the wheeled tractor – 59.93 versus 82.11 kPa. Tests under real operating conditions were carried out on an experimental unplowed field with medium loamy soil in the Ryazan region. A kinematic mismatch between the front and rear drive wheels led to the front wheels slipping and required the front axle to be disengaged. To assess the traction capacity of the tractor and its possible increase as a result of the installation of a removable caterpillar undercarriage system, tests were carried out on the transportation of agricultural machines for tractors of a higher traction class: semi-trailer sprayers Caffini and an integral planter Demetra 2276-2019. When working with the seeder, the front wheels lost contact with the supporting surface and they became suspended, with the entire weight of the tractor and seeder only to the rear tracked units. Despite this, a high load-bearing capacity of the tracked modules and the tangential stabilizer, in particular, was revealed. The flaw detection revealed isolated signs of natural wear of the friction surfaces. No operational failures were identified. Directions for further research into removable caterpillar undercarriage systems are formulated in terms of improving operational test methods, design and engineering parameters of tracked units, including through the introduction of automation and robotics to create undercarriage systems adaptive to various soil and climatic conditions.