###### Abstract
The draught and vertical forces exerted on the duckfoot of row cultivators significantly impact the overall performance of agricultural implements in terms of fuel consumption, soil loosening, and operational efficiency [11]. These forces are influenced by various factors, including soil structure and moisture, working depth, tool geometry, and working speed, as well as the stiffness of the duckfoot's attachment times [12]. Proper consideration of these parameters is crucial for modelling and successful application in precision agriculture [13]. The available results of the research on cultivator tools focused primarily on assessing draught force, which is the force needed to pull the tool through the soil. The role of key soil parameters, such as soil moisture and bulk density, has been widely recognised as significantly impacting pulling power [14]. In particular, it has been shown that moisture content plays a crucial role in soil preservation during soil cultivation. When the moisture content is low, the soil becomes more resistant to penetration, which requires more force to crack and move the soil. Conversely, the soil takes a plastic form with higher moisture, reducing the force on the tools. However, this can increase pulling, complicating the tool's functionality [15]. In addition to soil moisture, the working depth significantly impacts the draught and vertical forces on the tillage implements. Deeper tillage increases the volume of soil cut off and loosened, leading to a proportional increase in draught forces. Studies consistently show that working depth is one of the main factors affecting pulling power, with deeper operations requiring more pulling power due to the increased soil mass cut off by the implement [16]. For example, it has been shown that increasing depth causes a significant increase in both draught and vertical forces, especially in heavy, cohesive soils where the mechanical strength of the soil becomes a critical factor [17]. Tool geometry is another significant factor in draught and vertical forces. Duckfoot tools are widely used in agricultural cultivation due to their wide wings, which are designed to cut and lift large amounts of soil. The width of the implement affects the contact area with the soil, which means that more soil rests on the wider tines, thus increasing the resistance that the duckfoot should overcome. In addition, the shape and angle of the tool's cutting edge can significantly impact the forces acting on the tool, as sharper edges or smaller rake angles can reduce draught force and improve cutting performance [18]. Working speed is also a critical parameter that affects the forces acting on the tillage implements. Studies have shown that the draught force increases with increasing working speeds due to the inertia of the soil mass accelerated by the tool [19]. The inter-row cultivator caused unacceptable soil movement and damage to the plants at 6.11 and 7.82 km h\({}^{-1}\)[20]. Another study found that an inter-row cultivator was more effective at reducing weed populations than a standard row cultivator [21]. Ultimately, choosing the suitable inter-row cultivator significantly impacts the efficiency of weed removal and minimises damage to crops depending on the speed and depth of work [22]. The conclusion is that properly selecting an inter-row cultivator is crucial for effective weed control and minimising crop damage depending on soil conditions and work speed. Stiff and resilient tines play a crucial role in the weeding elements of the row cultivator. The choice between rigid and flexible tines on a row cultivator has a significant impact on the effectiveness of weed control and the reduction in plant damage, highlighting the need to consider the choice of cultivator and its operating parameters carefully. In analysing the effect of tool vibration on draught forces, discrete element method simulations show a significant impact of tool vibration on draught forces [23].