Kinematic Analysis of Rotary Transplanting Mechanism for Wide-Narrow Row Pot Seedlings
Kinematic Analysis of Rotary Transplanting Mechanism for Wide-Narrow Row Pot Seedlings
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DOI：
10.13031/trans.59.11371
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发表时间：
2016
影响因子：
1.5
通讯作者：
Liang Sun;Shimin Mao;Yun Zhao;Xiaolong Liu;Guofeng Zhang;Xiaoqiang Du
中科院分区：
文献类型：
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作者：
Liang Sun;Shimin Mao;Yun Zhao;Xiaolong Liu;Guofeng Zhang;Xiaoqiang Du
宽窄行盆苗移栽可获得较高的水稻产量和品质。本文在分析国内外研究进展的基础上，设计了一种新的WPST机制。WPST机构是由行星齿轮系和7个非圆弧锥齿轮组成的，应用于水稻盆栽插秧机中。根据水稻WPST的农艺要求，分析了WPST的工作轨迹和姿态特性。采用非均匀b样条曲线拟合控制非圆锥齿轮的外节距曲线，并引入D-H变换矩阵表示WPST机构世界框架中植爪的运动轨迹和姿态，建立了机构的运动学模型。开发了WPST机构的计算机辅助分析和优化程序。在此基础上，分析了各参数对移栽轨迹和姿态的影响。通过人机交互，优化了满足WPST机构要求的结构参数。利用这些参数，建立了机构的三维模型，并进行了虚拟仿真和物理样机试验。仿真和实验结果与理论分析一致，验证了WPST机理的理论模型。
Wide-narrow row pot seedling transplanting (WPST) could obtain high rice yield and quality. In this study, a new type of mechanism for WPST is designed based on analysis of recent advances at home and abroad. The WPST mechanism, which consists of planetary gear trains with seven noncircular bevel gears, is used in an automatic rice pot seedling transplanter. The working trajectory and attitude properties are analyzed according to the agronomy requirements of rice WPST. To establish the kinematics, a non-uniform B-spline curve is used to fit and control the outer pitch curve of the noncircular bevel gears, and D-H transformation matrices are introduced to express the trajectory and attitude of the planting paw in the world frame of the WPST mechanism. Computer-aided analysis and an optimization program of the WPST mechanism are developed. Based on the program, the effects of various parameters on transplanting trajectory and attitude are analyzed. By human-machine interaction, the structural parameters that meet the demands of the WPST mechanism are optimized. Using these parameters, a 3D model of the mechanism is built, and virtual simulation and physical prototype tests are carried out. The simulation and experimental results agree with the theoretical analysis, which validates the theoretical model of the WPST mechanism.