基于Matlab的油菜移栽机栽植机构运动学建模与分析  

Planting mechanism kinematics modeling and analysis of rapeseed transplanting machine based on Matlab

作　　者：罗江河[1,2] 孙松林[1,2] 肖名涛[1,2] 李军政[1,2] 高翔宇[1,2] 全伟[1,2] 杨彪[1,2] 张五金[1,2] 寻真福[1,2] 

机构地区：[1]湖南农业大学工学院,湖南长沙410128 [2]湖南省现代农业机械装备工程技术研究中心,湖南长沙410128

出　　处：《湖南农业大学学报（自然科学版）》2013年第6期693-698,共6页Journal of Hunan Agricultural University(Natural Sciences)

基　　金：国家科技支撑计划项目(2011BAD20B08)

摘　　要：针对自制油菜移栽机栽植机构作业质量差的问题,利用Matlab语言建立了栽植机构的运动模型,分析机构参数对作业性能的影响。结果表明,大、小曲柄的长度及2曲柄的夹角和摇杆的长度对机构的作业性能有重要影响。根据这些参数对作业轨迹曲线的影响趋势,寻找到一组较优化的机构参数。当轨迹高度为181 mm、株距为240 mm时,入土轨迹与出土轨迹的重合度好,出土轨迹基本保持竖直,在投苗点附近时,栽植器的最大速度为0.048 m/s,其姿态保持与水平面垂直,加速度的波动范围小,能满足油菜移栽的要求。This paper, aiming at the poor quality of planting mechanism in homemade rape transplanter, has used MATLAB language to device movement model for rape plantating mechanism, and analysed the impacts of mechanism parameters on its performance, among the parameters are the length of cranks and rockers as well as the angle between cranks that have great effects. According to the influence trend of parameters on locus curve, a set of optimal mechanism parameters have been found with the help of movement model. When the trajectory height is 181 mm and planting distance is 240 mm with unearthed trace basically uptight, there is a great contact ratio between the penetration and unearthed trace. Around the dropping seedling point, the transplanter can reach the maximum speed of 0.048 meter per second, keeping perpendicular with horizontal plane, with small changes of acceleration, which are able to fully satisfy the requirements of the transplantation of rape.

关 键 词：油菜移栽机 栽植机构 模型 MATLAB 参数分析 

分 类 号：S223.99[农业科学—农业机械化工程] O245[农业科学—农业工程]