Kinematic synthesis and optimization design of a rice pot seedling transplanting mechanism
Kinematic synthesis and optimization design of a rice pot seedling transplanting mechanism
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DOI：
10.1177/09544062231184804
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发表时间：
2023-06
期刊：
影响因子：
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通讯作者：
Haocong Xu;Lei Wang;Yuejun Miao;Liang Sun
中科院分区：
文献类型：
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作者：
Haocong Xu;Lei Wang;Yuejun Miao;Liang Sun
为了实现钵苗移栽所需的精确作业轨迹和姿态，解决双行星架分插机构中分插臂输出部分反转，不利于实现推苗动作的问题，一种基于输出角和四个精确任务位姿的姿态约束双行星架轮系机构运动综合方法，提出了首先根据移栽农艺要求规划理想移栽轨迹，提取理想轨迹上4个关键点的位姿信息作为机构设计的约束条件。然后，基于相对位移方程，建立了平面3R机构（分插机构简化模型）关于输出转角和精确四个位姿约束的运动综合设计方程，并通过求解多胞同伦法得到满足约束要求的机构参数。建立了非圆齿轮圆度的数学模型，采用遗传算法对轮系分插机构中传动非圆齿轮的圆度进行了优化。最后，完成了双行星架轮系分插机构的结构设计、虚拟仿真和实验分析。结果表明，实际运动轨迹和姿态与理论设计一致，在移栽效率为120株/min和180株/min时，取苗成功率分别为91.53%和87.46%，满足设计要求。
To achieve the precise operation trajectory and posture required for pot seedling transplanting and solve the problem that the partial reversal of the transplanting arm’s output in the double planet carrier transplanting mechanism, which is unconducive to the realization of the seedling pushing action, a motion synthesis method for a double planet carrier gear train mechanism with attitude constraints based on the output angle and four exact task poses is proposed. First, the ideal transplanting trajectory is planned according to the transplanting agronomic requirements, and the position and attitude information of the four key points on the ideal trajectory are extracted as the constraints of the mechanism design. Then, based on the relative displacement equation, a comprehensive design equation of the motion of the plane 3R mechanism (simplified model of the transplanting mechanism) about the output rotation angle and the precise four pose constraints is established, and the mechanism parameters that meet the constraint requirements are obtained by solving the multicellular homotopy method. A mathematical model of the roundness of the non-circular gear was also established, and the roundness of the transmission non-circular gears in the gear-train transplanting mechanism was optimized by using the genetic algorithm. Finally, the structural design, virtual simulation, and experimental analysis of the double-planet carrier gear train transplanting mechanism were completed. The results show that the actual trajectory and attitude are consistent with the theoretical design, and when then the mechanism was under the transplanting efficiency of 120 and 180 plants/min, the success rates of picking seedlings were 91.53% and 87.46%, respectively, meeting the design requirements.