除草机器人减震悬架越障性能分析  

Structure Design and Simulation Analysis of Weeding Robot

作　　者：孙艳霞[1] 陈勇[1] 金小俊[1] 王艳[1] 

机构地区：[1]南京林业大学机械电子工程学院,南京210037

出　　处：《农业机械学报》2013年第S1期264-268,共5页Transactions of the Chinese Society for Agricultural Machinery

基　　金："十二五"国家科技支撑计划资助项目(2011BAD20B07);教育部留学回国人员科研启动基金资助项目

摘　　要：为能够同时进行苗间和行间除草的高效除草机器人配置了悬架机构,使机器人具有减震性能,提高了机器人农田适应性。设计并制作了机器人物理样机。越障过程分析表明,该机器人悬架具有较强的调节性能。运用ADAMS软件建立了机器人虚拟样机,分析了机器人在凸起、斜坡和凹坑地面的越障能力。仿真结果表明机器人在这3种地形上均有良好的适应性。A weeding robot that could work on intra-row weeding and inter-row weeding simultaneously was proposed to improve weeding efficiency.The robot adopted suspension structure for the optimization of field adaptability.Physical prototype of the robot was developed and manufactured.According to the obstacle-crossing analysis, the suspension structure was of good adjusting function.The obstacle navigation characteristic of weeding robot was simulated by ADAMS.Its ability of crossing obstructions in convex,concave and oblique lands was researched and simulated.The results showed that the robot could move on these three typical lands with excellent adaptability.

关 键 词：除草机器人 苗间杂草 行间杂草 悬架 仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]