本論文設計一台能夠應用於坡地及濕滑草地的果園自動割草機器人。果園環境中，地面經常因澆灌形成部分泥濘，且較鬆軟的土地則與輪胎之摩擦係數較低，容易造成輪胎空轉，為了適應類似的地形，機器人以大腳車的機構作為設計參考，搭配較長的懸吊行程，以應對較為崎嶇之地形。
機器人以Arduino Mega 2560作為控制中樞，用以處理馬達控制訊號及感測器資訊，並以Pix32飛控板搭載PX4韌體，在筆電上使用
Q groundcontrol軟體進行機器人路徑規劃。
使用設計之割草部件進行割草，透過行星齒輪與刀具結合產生低速雙向旋轉之刀具，藉由刀刃交錯時，類似剪刀切割的方式，以達到較低能耗與安全性之目的。實驗結果顯示本論文設計之割草機構能夠有效割除雜草。

This thesis presents an automatic orchard mowing robot which can be used on slopes and slippery environments for grass mowing. The ground of slippery grass has a small frictional coefficient for the tires of the robot; thus, it is likely to cause the tires to skid. In order to adapt orchard’s rough terrains, the robot uses a monster truck mechanism as a design reference. The long suspension stroke mechanism enables the robot overcome the rough terrain more easily.
The robot uses Arduino Mega 2560 as the control center to process motor control signals and sensor information, and uses a Pix32 flight control board with PX4 firmware for remote control. By using the data transfer module (HT0X), a user can use the QGroundControl (QGC) software on the laptop to execute the robot path planning task.
In order to lower the energy consumption and to enhance mowing safety when mowing, a planetary gear set is combined with the cutting blades to produce a low-speed bidirectional rotating cutter. The designed mechanism mows similarly to scissor cutting when the blades are staggered for low-speed cutting to reduce safety concerns due to high-speed splashing. Experimental results show that the present robot mows grass successfully.

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