不等速行星轮系机构混合多位姿综合方法及应用  

Mixed Multi Pose Synthesis Method and Applications of Unequal Velocity Planetary Gear Trains

作　　者：王磊[1,2] 方子辰 王振涛 孙良 俞高红[1,2] 崔荣江 WANG Lei;FANG Zichen;WANG Zhentao;SUN Liang;YU Gaohong;CUI Rongjiang(School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou,310018;Zhejiang Provincial Key Laboratory of Agricultural Intelligent Perception and Robotics,Hangzhou,310018;Special Equipment Institute,Hangzhou Vocational&Technical College,Hangzhou,310018)

机构地区：[1]浙江理工大学机械工程学院,杭州310018 [2]浙江省全省农业智能感知与机器人重点实验室,杭州310018 [3]杭州职业技术学院特种设备学院,杭州310018

出　　处：《中国机械工程》2024年第12期2211-2220,共10页China Mechanical Engineering

基　　金：国家重点研发计划(2022YFD2001800);国家自然科学基金(52305290,52375275,52075497);浙江省自然科学基金(LTGN23E050002,LY23E050013)。

摘　　要：为使不等速行星轮系机构能够实现精准取放任务,提出一种混合多位姿运动综合方法。将不等速行星轮系机构视为平面2R开链机构与非圆齿轮传动机构的组合,以理想运动轨迹上关键位姿(精确与近似)数据为约束,基于杆长不变条件建立平面2R开链机构混合多位姿运动综合模型,并利用同伦算法求解获得最优结构参数;给出了非圆齿轮传动比计算与分配方法,实现了不等速行星轮系机构的混合多位姿运动综合。将此运动综合方法应用于农业机械领域取苗机构的设计可满足蔬菜穴盘苗精准取放移栽要求,通过虚拟仿真分析、物理样机实验验证了所提方法的正确性。A mixed multi pose motion synthesis method was proposed to achieve accurate take-and-place tasks of planetary gear mechanisms with different velocities.The unequal velocity planetary gear train was regarded as a combination of planar 2R open chain mechanism and non-circular gear transmission mechanism.Constrained by the key pose(exact and approximate)data on the ideal trajectory,a mixed multi-pose motion synthesis model of the planar 2R open chain was established based on the condition of constant link length,and the optimal structural parameters were obtained by homotopy algorithm.The calculation and distribution method of the non-circular gear ratio was given,and the mixed multi pose motion synthesis of unequal velocity planetary gear train was realized.The proposed method was applied to design the seedling picking mechanism in the field of agricultural machinery to meet the requirements of accurate taking and placing of vegetable pot seedlings.The correctness of the proposed method was verified by virtual simulation analysis and physical prototype experiments.

关 键 词：行星轮系 非圆齿轮 混合多位姿 运动综合 取苗机构 

分 类 号：TH122[机械工程—机械设计及理论] S223.9[农业科学—农业机械化工程]