Analysis and Design of a Spatial Planetary Noncircular Gear Train for Rice Seedling Transplanting Based on Three Given Positions
Analysis and Design of a Spatial Planetary Noncircular Gear Train for Rice Seedling Transplanting Based on Three Given Positions
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基于三给定位置的水稻插秧空间行星非圆齿轮系分析与设计
DOI：
10.13031/trans.13498
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发表时间：
2020
影响因子：
1.5
通讯作者：
Zhang G.
中科院分区：
文献类型：
--
作者：
Sun L.;Zhou Y.;Huang H.;Wu C.;Zhang G.
重点提出了非圆齿轮空间分插机构的求解方法，提出了一种新型水稻钵苗分插机构，获得了准备阶段侧向位移较小的轨迹，并通过仿真和现场试验验证了其工作性能。摘要。针对宽窄行钵苗移栽的要求，提出了一种求解空间非圆齿轮行星轮系参数的方法。首先，将行星轮系简化为空间开链2R机构（行星架）。根据描述抓取、拔苗和播种空间位姿信息的3个齐次矩阵，建立了2R机构的运动学模型。其次，计算了各连杆的长度、各旋转轴的姿态和相对初始角度。推导了求解传动比的数学模型。推导了一种单行星架两级驱动的空间行星轮系构型，该构型的中轴线可由所选构型、所代表的运动轨迹和各齿轮副的传动比综合确定。最后，将非圆齿轮副和斜齿轮副相结合的行星轮系用于WPST机构的设计。通过对样机的仿真和测试，验证了理论模型的正确性和设计的实用性。关键词：非圆齿轮，行星轮系，空间轨迹，传动比，分插机构。
HighlightsA method for solving a spatial transplanting mechanism with noncircular gears is proposed.A new mechanism for transplanting rice pot seedlings is proposed.A trajectory with a small lateral displacement at the preparation phase is obtained.The working performance is validated by simulations and field tests.Abstract. This study proposes a method of solving the parameters of a spatial planetary gear train with noncircular gears to meet the requirements of wide-narrow row pot seedling transplanting (WPST). First, the planetary gear train was simplified to a spatial open-chain 2R mechanism (planetary carrier). A kinematic model of the 2R mechanism was derived from the three given homogeneous matrices describing the spatial position and attitude information of grasping, extracting, and planting seedlings. Second, the length of each link, attitude of each rotation axis, and relative initial angles were calculated. The model for solving the transmission ratio was deduced. A spatial planetary gear train configuration with a single planet carrier and two-stage driving was derived, in which the middle axis could be determined by combining the selected configuration, represented trajectory, and transmission ratio of each gear pair. Finally, a planetary gear train combining a noncircular gear pair and a helical gear pair was used in the WPST mechanism design. Simulations and tests conducted on a prototype confirmed the correctness of the theoretical model and the practicality of the design. Keywords: Noncircular gear, Planetary gear train, Spatial trajectory, Transmission ratio, Transplanting mechanism.