扇贝脏器气吸分离装置柔顺臂动力学特性分析  

Dynamic characteristic analysis of distributed-compliant arm in vacuum suction device for scallop viscera separation

作　　者：李娜[1] 姜海勇[1] 张先鹏[1] 弋景刚[1] 

机构地区：[1]河北农业大学机电工程学院,保定071001

出　　处：《农业工程学报》2016年第2期244-251,共8页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金资助项目(51305125);河北省自然科学基金资助项目(E2013204110);河北省高等学校科学技术研究基金资助项目(YQ2013007)

摘　　要：为了实现扇贝高效低损的自动化生产,针对扇贝脏器负压吸取分离方式,提出一种基于大变形分布式柔顺机构的气吸分离驱动结构。建立柔顺驱动臂伪刚体模型,将其等效为具有欠驱动关节的多刚体系统;并基于影响系数法建立柔顺臂等效多刚体系统的动力学模型,对等效多刚体系统中主、被动关节间运动进行动力学解耦,得到了系统的二阶非完整约束方程,推导出了等效欠驱动关节加速度与主动关节输入驱动力矩的表达式;在此基础上,对分布式柔顺臂的动力学特性进行仿真分析与样机试验,结果表明：利用柔顺臂的复合弹性变形,当转轴转角≤56°时,柔顺臂带动吸管垂直上升实现脏器吸取;当转轴转角≥61°时,吸管开始明显倾斜,吸管底面与水平夹在25°-30°之间,满足倾斜卸压要求,试验结果与仿真分析基本一致。分离装置基于柔顺机构运动特性,可有效简化设备机械结构与控制系统,降低成本与能耗,研究结果为扇贝自动化生产设备的研发提供参考。The scallop is one of the major economic bivalves in China, whose adductor muscle is called shellfish. Shellfish are nutritious, delicious, and have many healthcare functions, edibleness and economic value. The automatic collection of adductor muscle usually includes 2 methods which are mechanical type separation and non-mechanical type separation. The mechanical separation uses mechanical device to separate adductor muscles and viscera compulsively, but this kind of method often causes lacerated hurt for adductor muscle, and low rate of finished products. The non-mechanical method realizes the separation of adductor muscle and viscera through adopting heat treatment, chemical reagent treatment, and ultrahigh pressure technology, etc. However, the non-mechanical separation destroys the nutrition component of adductor muscles because of the hot process on them. Therefore, the low-loss separation for adductor muscles of bay scallop and viscera is one of the key processes to realize the automatic collection. In order to reduce the high-loss of adductor muscles of scallop during automatic separation, this paper presents the suction separating device based on the distributed fully-compliant mechanism. The suction separating device is composed of suction tube and motivating mechanism. Due to the space limitation, it is difficult to use the traditional mechanism to realize the high-speed lift and the complicated location and posture of the suction tube, and so the motivating mechanism for suction tube with the compliant arm as the principal part can simplify the complication of mechanical structure observably. The motivating mechanism is based on the energy storage and deformation of the distributed fully-compliant arm to realize the control of locomotion and posture of the suction tube during separating process, so it is essential to analyze the dynamic characteristics for control. The pseudo-rigid-body model for the compliant arm is built, which makes the compliant mechanism equivalent to a multi-body system with unde

关 键 词：建模 动力学 试验 扇贝脏器气吸分离装置 分布式柔顺臂 影响系数法 

分 类 号：S985.36[农业科学—捕捞与储运] TH113.22[农业科学—水产科学]