农机化研究Issue(12)：78-86,9.
平粮机器人结构设计及运动仿真
The Structure Design and Motion Simulation of Grain Flatting Robot
摘要
Abstract
At present the grain surface flatting operation of each grain storage essentially manually , not only labor inten-sive , low efficiency , but more dust in the grain storage , grain easy mobility resulting a serious security risk to staff . Therefore develop a grain flatting robot instead of manually work to operate the grain surface flatting has a broad market prospects and practical value .The dissertation designed a grain surface flatting robot for large size horizontal warehouse , establishing a three-dimensional model of the robot , and developed the robot physical prototype .When it works , grain particle will enter into the meshing area of track and track wheel deforming the track , it impacts the walking of robot . Therefore , track seal was added to the track to avoid grain particle enter into the track .Then use of simulation software Recurdyn on grain flatting robot dynamics simulation , take the analysis focused on the robot ’ s ability of pivot turning and climbing , and determine the maximum angle of climbing , the experiments verified the reasonableness and validity of the robot structure .Finally , we establish experimental environment to experiment the grain surface flatting properties of ro-bot .The experimental results show the robot can completed grain surface flatting work in a certain extent .关键词
平粮机器人/结构设计/运动仿真Key words
grain flatting robot/structure design/motion simulation分类
农业科技引用本文复制引用
蒋林,金祖飞,刘晓磊,晏晚君,叶维林,蔡军,张新友..平粮机器人结构设计及运动仿真[J].农机化研究,2015,(12):78-86,9.基金项目
国家自然科学基金项目（61105086）；国家重点实验室开放基金项目 （）
