棉花采摘机械手机构设计及参数优化  

Mechanism Design and Parameter Optimization for Cotton Picking Manipulator

作　　者：张玉磊[1] 王维新[1] 马本学[1] 李霞[1] 张巍[1] 丁平平[1] 

机构地区：[1]石河子大学机械电气工程学院,新疆石河子832000

出　　处：《农机化研究》2015年第3期142-145,共4页Journal of Agricultural Mechanization Research

基　　金：国家自然科学基金项目(51365050)

摘　　要：针对国内棉花采收存在的问题,提出了运用棉花采摘机械手代替人工和采棉机采收的方法。在对棉花农业特性及收获特性分析的基础上,结合新疆棉花种植模式以及棉花采摘要求,遵循机械手设计原则,设计了一种5自由度多行采收的关节型棉花采摘机械手。为使机械手能够高效灵活地收获目标空间棉铃,尽可能减小机械臂的操作空间和结构尺寸,结合采摘对象棉铃的生长分布空间和作业要求,分析了在给定空间下的设计变量、优化目标和约束条件,建立了优化设计的数学模型,并利用MatLab优化工具箱进行编程,实现了棉花采摘机械手的机构参数优化。A cotton harvest method of using cotton picking manipulator instead of manual picking and harvesting cotton picker harvesting was proposed for the exiting problems of domestic cotton harvest .Based on the analysis on the agricul-tural characteristics and gain characteristics of cotton , following the manipulator design principles , Multi oint type picking cotton picking manipulator with 5 degree of freedom was designed combined with XinJiang cotton planting pattern and cot-tonpicking requirements .In order to harvest cotton bolles of the target space flexibly and efficiently , meanwhile to reduce operating space and structure size of the manipulator as much as possible ,the mathematical models according to the cotton bolles ’ growth circumstance and distribution space were constructed by analyzing the design variables ,the optimization ob-jectives and constraints in a given space , and the MATLAB optimization Toolbox was applied to program and realize pa-rameter optimization of cotton picking manipulator .

关 键 词：棉花 采摘机械手 机构设计 工作空间 优化设计 

分 类 号：S225.911[农业科学—农业机械化工程] TP242[农业科学—农业工程]