Nowadays the agricultural sector is developing new technologies to help farmers to make their work simpler. Mainly in the forestry sector the new machine that is becoming more popular in these years is the robotic tool carrier that can be used in a large variety of works. The goal of this thesis is to create a system capable of reducing the soil compaction of a robotic tool carrier. The machine that is studied in this thesis was built by the ALPIrobot an Italian company located in Bagnolo Piemonte(CN), and is basically composed of three parts: the motor block, the chassis and the tool on the front.