穴盘苗移栽末端执行器设计与仿真分析  

Design and Simulation Analysis of End Effector for Plug Seedling Transplanting

作　　者：张炜[1] 仲高艳[1] 黎宁慧 张宁[2] 

机构地区：[1]南京农业大学工学院,南京210031 [2]福建工程学院机械与汽车工程学院,福州350118

出　　处：《农机化研究》2015年第11期125-129,共5页Journal of Agricultural Mechanization Research

基　　金：福建省自然科学基金项目(2013J01168)

摘　　要：针对目前穴盘苗移栽末端执行器存在夹持角度不可调、结构复杂等问题,设计一种三指式移栽末端执行器,通过最小夹持角度、几何参数的分析计算,完成其机械本体部分的设计。结合ADAMS虚拟样机技术,建立了该机构的虚拟样机模型,通过仿真分析得出关键点的运动轨迹及在空载和施加等效负载时的位移、速度、加速度曲线。同时,分析得出移栽末端执行器夹持土壤时的受力情况,其提升总摩擦力为16.56N大于所需提升阻力6.1 7 N。仿真实验结果显示:移栽机械手的结构设计符合要求,其运动特性能够满足移栽运动要求。Aiming at some problems which present end effector for plug seedling transplanting have like clamping .Angle is not adjustable ,structure is complex and so on ,a three fingers type transplanting end effector was designed .Through the analysis and calculation of the minimum clamping angle and the geometric parameters ,the design of the mechanical body was finished .Combined with the ADAMS virtual prototyping technology , a virtual prototype model of the mechanism was designed .With simulation and analysis , this article obtained the motion trajectory of the key points;the displacement , speed , acceleration curve with no-load and equivalent load;and stress conditions when transplanting end effector held the soil.The total uplifted friction of 16.56N is higher than the uplifted resistance force of 6.17N.Simulation results showed that the structure design of transplanting manipulator can meet the requirements ,and motion characteristics of it can also meet the requirements of transplanting movement .

关 键 词：移栽 末端执行器 穴盘苗 ADAMS 动力学 

分 类 号：S223.92[农业科学—农业机械化工程] TP242.6[农业科学—农业工程]