高垄畦沟小型农业作业机器人设计与试验  

Design and Experiment of Small Agricultural Robot for High Ridge Furrow

作　　者：岑华[1] CEN Hua(Guangxi Modern Polytechnic College,Hechi,Guangxi 547000)

机构地区：[1]广西现代职业技术学院,广西河池547000

出　　处：《安徽农业科学》2023年第23期198-202,237,共6页Journal of Anhui Agricultural Sciences

基　　金：2021年广西高校中青年教师科研基础能力提升项目(2021KY1420);2022年广西高校中青年教师科研基础能力提升项目(2022KY1438)。

摘　　要：针对高垄畦沟小型农业作业机器人的设计内容进行研究,首先阐述了整体结构设计,其次阐述了关键部件设计,再次阐述了多体动力学性能分析,最后提出了行驶稳定性试验。在此期间设计了一种较小的轮式机器人。为了论证该机器人的可用性和实用性,使用RecurDyn仿真软件对机器人可能应用到的田垄结构动力学和运动学进行仿真建模。仿真结果表明,此次设计的机器人模型可以达到转向半径超过0.8 m的实际需求,并按照田垄结构来进行直线上的工作,在此期间移动平台的侧倾角不会超过3°,且该移动平台所支持的作业速度上限为1.0 m/s。田间试验结果表明,当该移动植保机作业速度为1.0 m/s时,最大侧倾角为14.00°。In this paper,the design content of small agricultural robot for high ridge furrow was studied.Firstly,the overall structure design was described.Secondly,the design of key components was elaborated.Thirdly,the multi-body dynamic performance analysis was elaborated.Finally,the driving stability experiment was proposed.During this period,we designed a small-size wheeled robot.In order to demonstrate the usability and practicability of this robot,this paper mainly used RecurDyn simulation software to simulate the dynamics and kinematics of the field ridge structure that the robot might applied.Through the simulation results,it could be judged that the robot model in this design could reach the actual demand that the turning radius exceeded 0.8 m,and it could operate on the straight line according to the field ridge structure,and the roll angle of the mobile platform would not exceed than 3°during this period,the upper limit of operation speed supported by the mobile platform was 1.0 m/s.The field test results showed that the maximum roll angle of the mobile plant protection machine was 14.00°when the working speed was 1.0 m/s.

关 键 词：高垄畦沟 小型移动平台 仿真试验 设计 

分 类 号：S22[农业科学—农业机械化工程]