Optimal design and experiment of 2-DoF five-bar mechanism for flower seedling transplanting
Optimal design and experiment of 2-DoF five-bar mechanism for flower seedling transplanting
复制标题
花卉育苗移栽二自由度五杆机构优化设计与试验
DOI：
10.1016/j.compag.2020.105746
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发表时间：
2020-11
影响因子：
8.3
通讯作者：
Chen Jianneng
中科院分区：
文献类型：
--
作者：
Zhao Xiong;Guo Junlin;Li Kewei;Dai Li;Chen Jianneng
目前使用的大型花卉育苗移栽设备价格昂贵，适应性差，而小型移栽设备存在苗木破损、自动化程度低的问题。针对这种情况，设计了一种从多点采摘到单点种植的2-DOF五杆移栽机构。在一个运动周期中，通过执行机构的运动控制，从苗盘的四个孔中取出苗木，然后在给定点将苗木种植到花盆中，简化了系统中移栽、花盆运输和苗木输送之间的协调。对于苗木采摘，为了避免损伤，将末端执行器插入到苗茎根部附近的基质中，根据给定的满足花卉苗木移栽要求的轨道型轨迹点设计了移栽轨迹。建立了数学模型，利用遗传算法对所研制的2-DOF五杆插拔机构参数与两个执行器之间的运动关系进行了优化。最后，设计了相应的控制系统，两个执行器由两个伺服电机驱动，末端执行器由插秧臂中的电磁铁控制，实现夹苗和放苗运动。另外，建立了基于DDA线性插补算法的双伺服电机同步联动控制方法，减小了伺服电机的偏差，通过单片微处理器实现了电磁铁与电机的联动控制，实现了执行器的协调。整个设计部署在真实的移栽工作条件下进行验证，其中使用了几个30天的西兰花幼苗作为实验对象。苗高80~100 mm，移栽速度40株/min。共移栽3套苗木384株，平均移栽成功率91.81%。
The currently used large-scale flower seedling transplanting equipment is expensive and has poor adaptability, while the small-scale transplanting equipment has problems with seedling damage and low automation. In view of this situation, a 2-DoF five-bar transplanting mechanism for multiple-point picking to single-point planting was designed. In a motion cycle, the seedlings could be picked from the four holes of a seedling disc and then planted in the flowerpot at a given point through the motion control of actuators, where the coordination among the transplanting, flowerpot transporting, and seedling delivering in the developed system was simplified. For seedling picking, the end-effector inserted into the substrate near the root of the seedling stem for damage avoidance, the transplanting trajectory was designed based on the given trajectory-type waypoints that satisfies the requirements of flower seedling transplanting. Besides, the mathematical model was established, where the relationship of the motion between the parameters of the developed 2-DoF five-bar transplanting mechanism and the two actuators were optimized by the genetic algorithm. Finally, the corresponding control system was designed, the two actuators were driven by two servo motors, and the end-effector was controlled by an electromagnet in the transplanting arm to realize the seedling clamping and releasing motion. In addition, a dual servo motor synchronous linkage control method was established based on the DDA linear interpolation algorithm to reduce the deviation of the servo motors, the linkage control of the electromagnet and the motor was realized through a single-chip microprocessor to achieve the coordination of the actuators. The overall design was deployed in real transplanting working conditions for validation, where several 30-day broccoli seedlings were used as experimental objects. The seedling height was around 80–100 mm and the transplanting rate was 40 plants/min. Three sets of seedlings (384 seedlings in total) were transplanted with an average transplanting success rate of 91.81%.
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影响因子：
0.4
作者：
O. Sakaue
通讯作者：
O. Sakaue
影响因子：
8.3
作者：
Tong, Junhua;Wu, Chuanyu;Rao, Xiuqin
通讯作者：
Rao, Xiuqin
DOI：
10.3969/j.issn.1002-6819.2008.10.056
发表时间：
2008-10
期刊：
Transactions of the Chinese Society of Agricultural Engineering
影响因子：
--
作者：
Q. Fei;Zhou Xinqun;Z. Yufeng;Li Zhi
通讯作者：
Q. Fei;Zhou Xinqun;Z. Yufeng;Li Zhi
影响因子：
8.3
作者：
H. Jianping;X. Yan;Jun Ma;C. Qi;Kumi Francis;H. Mao
通讯作者：
H. Jianping;X. Yan;Jun Ma;C. Qi;Kumi Francis;H. Mao
影响因子：
0.9
作者：
Han, L.;Mao, H.;Hu, J.
通讯作者：
Hu, J.