摘要：The article is devoted to the study of using mobile robotic systems in agriculture. It is shown that it is necessary to know the physical and mechanical characteristics of the main support motion surfaces to calculate the mobility and efficiency of these complexes. This will allow calculating the movement resistance and traction force, and as a result, choosing the best appliance design for these conditions. Typical areas of agricultural land near the village of Belka in the Knyaginino district of the Nizhny Novgorod region were analyzed. More than 200 measurements were made. The dependencies for calculating the main soil parameters are described. It is obtained that the average values of the soil parameters change within the following limits: the deformation modulus is 15.5-23 N/cm 2 , the specific soil adhesion is 13.9-16.7 kPa, the internal friction angle is 14.8-16.4 degrees, the density is 1.09-1.14 g/cm 3 , the soil moisture is 035-16, 9%.
