双曲柄五杆栽植机构运动学分析  

Kinematic Analysis on Double-crank Five-bar Planting Mechanism

作　　者：何小晶 孙新城[1,2] 陈建能[1,2] 童志鹏[1,2] 曾功俊 王川[1,2] 

机构地区：[1]浙江理工大学机械与自动控制学院,杭州310018 [2]浙江省种植装备技术重点实验室,杭州310018

出　　处：《浙江理工大学学报（自然科学版）》2016年第2期198-204,共7页Journal of Zhejiang Sci-Tech University(Natural Sciences)

基　　金：国家自然科学基金项目(51275481);高等学校博士学科点专项科研基金(博导类)项目(20123318110001);浙江理工大学科研创新团队专项项目

摘　　要：为了分析双曲柄五杆栽植机构的轨迹、姿态和穴口的形状、大小等作业性能,建立了双曲柄五杆栽植机构的位移、速度、加速度方程,采用Matlab编写了双曲柄五杆栽植机构运动学仿真分析软件。对该机构的若干关键参数对其作业性能的影响进行分析,关键参数包括两曲柄的长度及其初始相位差,分析结果表明：其中一曲柄的长度对栽植嘴的穴口大小及轨迹高度有显著影响;另一曲柄的长度对轨迹的高度有一定影响,但对穴口大小的影响更为明显;两曲柄的初始相位差对栽植轨迹的形状及栽植后轨迹的垂直度的影响显著,而对轨迹高度与穴口大小影响较小。根据参数分析结果得到一组较优的机构参数,相应的轨迹及运动姿态比日本井关的移栽机更好,且符合栽植作业的农艺要求。To analyze the operation capability such as the trajectory,posture and the hole size of the double-crank five-bar planting mechanism,the displacement,velocity and acceleration equations were deduced.The kinematic simulation analysis software was compiled by Matlab.The influence of key parameters of the mechanism on its working performance was analyzed and key parameters include the length of two cranks as well as the initial phase differencec.As indicated in the analysis result,the length of one crank had an important influence on the trajectory height and the hole size of the transplanting tip.The length of the other crank had some effects on the trajectory height,and it had a far greater impact on the hole size.The initial phase differencce of two cranks had an significant influence on the trajectory shape and the verticality of the trajectory after planting,while it had few influences on the trajectory height and the hole size.Based on the analysis results of the parameters,agroup of optimum parameters were obtained by this software,whose corresponding trajectory and posture were better than IsekiCompany＇s transplanting machine,and it could satisfy the needs of planting.

关 键 词：双曲柄五杆机构 蔬菜移栽机 运动学分析 作业性能 

分 类 号：TH112.1[机械工程—机械设计及理论]