ManufacturerYanmar Agribusiness Co., Ltd.Robot model · No. 1

YT4104R

Agricultural Robots · Agriculture

CommercialJapan

Key factOperator-onboard A2 and unmanned SR2 · Not publicly disclosed/verified

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Model details

Model specifications

Autonomous ConfigurationsOperator-onboard A2 and unmanned SR2

Autonomous Working SpeedNot publicly disclosed/verified

Auxiliary TransmissionTwo ranges plus creep

AvailabilityCommercially Available

Battery CapacityNot publicly disclosed/verified

Brake SystemWet disc brakes

CabinSafety cab

Commercial Product NameYANMAR SmartPilot Robot/Auto Tractor YT4104R

Complete Tractor IP Protection RatingNot publicly disclosed/verified

Control Interface10.1-inch tablet

Diesel Exhaust Fluid Tank Capacity17.5 L

Engine Displacement3.053 L

Engine Model4TNV94FHT

Engine Rated Output76.5 kW (104 PS) at 2,500 rpm

Engine TypeWater-cooled 4-stroke 4-cylinder direct-injection common-rail diesel

Exact ModelYT4104R

Front and Rear CamerasStandard on SR2 configuration

Fuel Tank Capacity130 L

Fuel TypeDiesel

Half-Crawler Auto ConfigurationDYUQH-A2

Half-Crawler Configuration Dimensions4,145 × 1,895 × 2,810 mm (L × W × H)

Half-Crawler Configuration Forward Speed0.16–25.0 km/h (25.3 km/h alternate manufacturer figure)

Half-Crawler Configuration Reverse Speed0.16–20.0 km/h (20.2 km/h alternate manufacturer figure)

Half-Crawler Configuration Weight4,065 kg; manufacturer also lists 4,090 kg in parentheses

Half-Crawler Ground Contact Length1,272.5 mm

Half-Crawler Robot ConfigurationDYUQH-SR2

Half-Crawler Width450 mm

Hydraulic LinkageJIS Category 2 three-point linkage

Legal ManufacturerYanmar Agribusiness Co., Ltd.

Main TransmissionContinuously variable

Maximum Field Slope for SR2 Robot Operations7 degrees under manufacturer safety guidance

Maximum Hydraulic Lifting Force32,300 N (3,300 kgf) at lower link ends

Minimum Autonomous Operating Field Dimensions50 × 30 m, subject to additional conditions

NationalityJapan

Navigation SystemGNSS-based autonomous field guidance

Obstacle Detection SensorsLaser and ultrasonic sensors on SR2 configuration

Obstacle ResponseAutomatic slowdown or stopping on SR2 configuration

Physical Assembly LocationNot publicly disclosed/verified for exact model

Positioning AccuracyNot publicly disclosed/verified as an exact numerical tolerance

Power Tread Auto ConfigurationYUQM3-A2

Power Tread Configuration Dimensions4,145 × 1,880 × 2,800 mm (L × W × H)

Power Tread Configuration Forward Speed0.15–33.0 km/h (33.4 km/h alternate manufacturer figure)

Power Tread Configuration Reverse Speed0.15–26.0 km/h (26.3 km/h alternate manufacturer figure)

Power Tread Configuration Weight3,855 kg; manufacturer also lists 3,880 kg in parentheses

Power Tread Robot ConfigurationYUQM3-SR2

Product FamilyYT4R/5R Robot/Auto Tractor Series

PTO Reverse Speed765 rpm

PTO Speed 1546 rpm

PTO Speed 2754 rpm

PTO Speed 31,046 rpm

Remote ControllerStandard on SR2 configuration

Safety BrakeStandard on SR2 configuration

Safety Lamp and BuzzerStandard on SR2 configuration

Standard Wheel Auto ConfigurationYUQR8-A2

Standard Wheel Configuration Forward Speed0.16–34.0 km/h (34.4 km/h alternate manufacturer figure)

Standard Wheel Configuration Reverse Speed0.16–26.0 km/h (26.3 km/h alternate manufacturer figure)

Standard Wheel Robot ConfigurationYUQR8-SR2

Steering SystemFull hydraulic power steering

Tablet Protection RatingIP65-equivalent

TransmissionHydromechanical transmission (HMT)

Wheel Configuration Dimensions4,145 × 1,875 × 2,850 mm (L × W × H)

Wheel Configuration Weight3,725 kg; manufacturer also lists 3,750 kg in parentheses

Wheelbase2,330 mm

About the YT4104R

The YANMAR YT4104R is a 104 PS autonomous diesel agricultural tractor designed for supervised unmanned or operator-onboard agricultural fieldwork. It supports GNSS-based autonomous navigation, field-route creation, automatic steering, turning and compatible implement control. The unmanned SR2 configuration adds obstacle-responsive safety sensors, remote tablet operation and camera monitoring. Standard-wheel, Power Tread and half-crawler versions are available.

Typical applications: Agriculture.

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