Dimensional synthesis and kinematics simulation of a high-speed plug seedling transplanting robot
Dimensional synthesis and kinematics simulation of a high-speed plug seedling transplanting robot
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DOI：
10.1016/j.compag.2014.06.004
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发表时间：
2014-09
影响因子：
8.3
通讯作者：
H. Jianping;X. Yan;Jun Ma;C. Qi;Kumi Francis;H. Mao
中科院分区：
文献类型：
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作者：
H. Jianping;X. Yan;Jun Ma;C. Qi;Kumi Francis;H. Mao
为了提高温室穴盘苗移栽的自动化程度和效率，利用气动机械手的二自由度平行平移机构，设计了一种高速穴盘苗移栽机器人。根据健苗的坐标，通过机构驱动机械手按照规划的路径进行取苗和种植。基于并联机构逆运动学，提出了全局综合性能指标，综合一组优化的尺寸参数，在整个工作空间内获得良好的动态性能。根据插秧机器人的运动需求，进行轨迹规划，并以五次多项式运动定律作为机械手的工作原理。根据机构尺寸和装配方式，建立虚拟样机模型，并进行运动学仿真。仿真结果与规划轨迹一致，单次移栽周期耗时1.08 s，验证了结构设计和轨迹规划的合理性。并获得运动学参数，为物理样机的优化设计和实际控制提供理论依据。
To improve the automation and efficiency of plug seedlings transplanting in greenhouse, a high-speed plug seedling transplanting robot was designed by making use of a 2-DOF parallel translation mechanism with a pneumatic manipulator. According to the coordinates of healthy seedlings, the manipulator was driven by the mechanism to fetch and plant seedlings in a planned path. Based on the inverse kinematics of parallel mechanism, a global comprehensive performance index was proposed to synthesize a set of optimized dimension parameters for a good dynamic performance throughout the entire workspace. In accordance with the motion demand of transplanting robot, trajectory planning was carried out and quintic polynomial motion law was taken as the principle of operation for the manipulator. Based on the mechanism dimensions and assembly mode, a virtual prototype model was built, and kinematics simulation carried out. The simulation results were identical to the planed trajectory and a single transplanting cycle took 1.08 s, verifying the rationality of the structure design and trajectory planning. Also, the kinematic parameters were obtained to provide a theoretical basis for optimization design and practical control of the physical prototype.