农业机械学报2017，Vol.48Issue(5)：28-35,8.DOI:10.6041/j.issn.1000-1298.2017.05.003
基于Delta并联机构钵苗移栽机器人尺度综合与轨迹规划
Dimensional Synthesis and Trajectory Planning of Plug Seedling Transplanting Robot Based on Delta Parallel Mechanism
摘要
Abstract
Delta parallel mechanism is effective in speed,kinematic accuracy and flexibility,which is appropriate for the plug seedling transplanting and healthy plug seedling filling,thus a high-speed plug seeding transplanting robot was designed by using Delta parallel mechanism with a pneumatic manipulator.The reachable workspace of the plug seedling transplanting robot was obtained by building the single chain constraint equations of the Delta parallel mechanism;taking the condition number of Jacobian matrix as the penality condition,a dimensional synthesis target function was built considering the size and kinematic performances of the plug seeding transplanting robot for the purpose of making the reachable workspace close to the needing workspace,then the dimensional synthesis for the plug seedling transplanting robot was obtained by using the genetic algorithm.In accordance with the motion demand of plug seedling translating robot,trajectory planning was carried out and quintic polynomial motion law was taken as the principle of operation for the moving platform.Based on the mechanism dimensions and trajectory planning,a physical prototype was built and transplanting experiment was carried out.The experiment results showed that the success rate of plug seedling transplanting was decreased when the transplanting acceleration was increased,the success rate of plug seeding transplanting was up to 95.5％,the success rate of plug seeding filling was up to 92％,transplanting rate can reach 2 149 plants per hour when the transplanting acceleration was 30 m/s2,which demonstrated the practicability and rationality of the dimensional synthesis and trajectory planning when the Delta parallel mechanism was used in plug seedling transplanting.关键词
钵苗移栽/并联机构/尺度综合/轨迹规划/性能试验Key words
plug transplanting/parallel mechanism/dimensional synthesis/trajectory planning/performance test分类
农业科技引用本文复制引用
胡建平,靳合琦,常燕超,刘伟,韩绿化,杨启志..基于Delta并联机构钵苗移栽机器人尺度综合与轨迹规划[J].农业机械学报,2017,48(5):28-35,8.基金项目
国家自然科学基金项目(51475216)、“十二五”国家科技支撑计划项目(2013BAD08B03)、江苏省科技支撑计划(农业)项目(BE2014373)、江苏省农业科技自主创新资金项目(CX(15)1033-5)和江苏高校优势学科建设工程项目(苏政办发[2014]37号) （51475216）
