摘要
为降低自动取苗机构的伤苗率,提高移栽成功率,设计了一种适用于整排夹持的全自动移栽机末端执行器,建立数学模型,开发基于VB的辅助分析优化软件,通过人机交互分析各机构参数对苗针倾角以及苗针中心距的影响。以新疆番茄钵苗的夹持参数为优化目标建立模型,利用MATLAB对关键参数进行快速准确优化,结合交互式优化软件获得最佳参数组合。在ADAMS下进行了运动学仿真,通过比较苗针末端轨迹验证结构尺寸参数符合精准夹持要求。绘制三维模型并3D打印制作末端执行器,搭建夹持试验台。
An pincette-type end-effector of automatic plug seedling transplanter adapted to multiple-picking was designed to reduce the breakage rate of pot seedling and improve the success rate of picking-up.The mathematic model was established and the Visual Basic-based computer-aided analysis and optimization software was developed.The influence law of the structural parameters on the angle and distance of needles were obtained by means of the human-computer interaction analysis method.The optimization model was established with the objectives of picking-up parameter of tomato seedling pot widely planted in Xinjiang,and the key parameters combination was obtained fast and accurately by using MATLAB.Combined with computer-aided analysis and optimization software,the best parameter combination was obtained.The structure was taken kinematics simulation in ADAMS and the parameters of the structure was verified to meet the requirement of accurate-clamping by comparing the trajectory of the needles.The three-dimensional model of end-effector was established and 3D printing was used to manufacture the model,and clamping test bench was set up.
作者
马锐
曹卫彬
任玲
马晓晓
MA Rui;CAO Wei-bin;REN Ling;MA Xiao-xiao(Electrical and Mechanical College,Shihezi University,Xinjiang Shihezi 832000,China)
出处
《机械设计与制造》
北大核心
2019年第12期185-189,共5页
Machinery Design & Manufacture
基金
国家自然科学基金(51565048)
国家自然科学基金(51765059)
关键词
末端执行器
移栽机
优化设计
End-Effector
Transplanter
Parameter Optimization
