逆转输出不等速齿轮机构构型综合、拓扑性能评价与尺度优化研究

引入摆动特性的逆转输出齿轮机构已越来越多的应用于育苗移栽机构，但移栽农艺的多样性对与期望作业轨迹相匹配的机构构型优选及移栽机构的创新设计提出了挑战。本项目拟开展具有逆转输出特性的齿轮机构拓扑构造特点分析，建立结构约束函数并提出融合约束函数的运动链结构类型综合方法，实现逆转输出齿轮机构自动综合；建立含齿轮数、串并联耦合数等结构信息的机构输出灵活性和敏感性评价指标，提出带保凸性随机传动约束的机构输出运动空间比值和基于运动链距离值的性能判别方法，并结合给定轨迹的机构输出中心可行域，实现齿轮机构构型的性能分类、匹配与优选；建立运动约束下的机构尺度因素与运动凸性指标间的内在联系，提出基于几何代数框架的精确多位姿尺度综合方法，实现机构参数优化；最后面向蔬菜钵苗移栽机需求研制出与期望取栽一体式空间作业轨迹相匹配的性能优异的移栽机构。本项目的研究成果将为多样化的育苗移栽机械快速研制提供理论基础和方法支持。

The reverse output gear mechanism with swinging characteristics has been more and more applied to seedling transplanting mechanisms, but the diversity of transplanting agronomy has posed challenges to the optimal selection of mechanism configuration matching the desired trajectory and the innovative design of transplanting mechanism. In this project, the topological characteristics of gear mechanism with reverse output characteristics will be analyzed. The structural constraint function will be established and the synthesis method of kinematic chain structure type based on the fusioned constraint function will be put forward, and the automatic synthesis of reverse output gear mechanism will be realized. The output flexibility and sensitivity evaluation index of mechanism with gear number, series-parallel coupling number and other structural information will be established. The performance judgment method based on the distance value of the kinematic chain for judging the output motion space ratio of the mechanism with convex preserving random transmission constraints will be presented. Combining with the feasible region of the output center of the mechanism with given trajectory, the performance classification, matching and optimal selection of gear mechanism configuration will be realized. To realize the optimization of the mechanism parameters, the intrinsic relation between the mechanism dimension factor and the motion convexity index under motion constraint will be established, and a dimension synthesis method for accurate multi-position pose based on geometric algebraic framework will be proposed. Finally, a transplanting mechanism with excellent performance matching the expected picking-planting one-piece spatial operation trajectory will be developed for the demand of vegetable pot seedling transplanting machine. The research results of this project will provide theoretical basis and method support for the rapid development of diversified seedling transplanting machinery.