农业机械学报2018，Vol.49Issue(3)：18-27,10.DOI:10.6041/j.issn.1000-1298.2018.03.002
温室穴盘苗并联高速移栽机器人运动误差分析与试验
Kinematic Error Analysis and Test of High-speed Plug Seeding Transplanting Machine for Greenhouse Based on Parallel Mechanism
摘要
Abstract
The greenhouse plug seedlings transplanting machines applied to industry are mostly with three-dimensional gantry structure.There are some obvious shortcomings like large size and inertia,low relatively rigidity,high prices and poor flexibility in operating capacity and not suitable for filling the gaps with seedlings or rejecting seedlings in high-speed operation.In view of these problems,it was intended to design a transplanting machine system with main body of parallel mechanism.The main structure of parallel transplanter and its five kinds of end effector of matching design were introduced.And then the quality of these end effectors was calculated.First of all,the rigid-flexible coupling multi-body dynamics model of parallel mechanism was established in ADAMS.Secondly,a longest diagonal trajectory was picked for simulation,and the error between the theoretical trajectory of the rigid model and the actual trajectory of the flexible model was compared.And then,the influence of changes of mass to motion error was set and explored by rigid-flexible coupling multi-body dynamics simulation in ADAMS and the feasibility of the parallel design was verified.It was found that there was oscillation at the end of the transplanting track.Finally,the positioning accuracy was tested by the physical prototype.Position error of the moving platform to each point was counted and the control system was compensated.It was turned out that the average positioning error was reduced from 7.611 mm to 1.208 mm.And most of the errors were systematic errors.During working process,the transplanting machine was with low deformation and high accuracy in taking and delivering stage during acceleration peak was 20 m/s2 and average speed was 2 m/s.But when the average speed was 3 m/s and the acceleration peak was 30 m/s2,the error was increased and the radial support force needed to be improved.关键词
温室/穴盘苗/并联机构/移栽机器人/运动误差/试验Key words
greenhouse/plug seeding/parallel mechanism/transplanting machine/motion error/experiment分类
信息技术与安全科学引用本文复制引用
杨启志,孙梦涛,蔡静,石新异,毛罕平,顾俊..温室穴盘苗并联高速移栽机器人运动误差分析与试验[J].农业机械学报,2018,49(3):18-27,10.基金项目
国家自然科学基金项目(51475216、51675239)、“十二五”国家科技支撑计划项目(2013BAD08B03-1)、江苏省自然科学基金项目(BK20161344)、江苏省六大人才高峰项目(ZBZZ-022)、江苏省高校优势学科建设工程项目(苏财教(2014)37号)和镇江市农业科技支撑项目(NY2014031) （51475216、51675239）
