基于双喷施系统的并联除草机器人研制与仿真分析  

Development and Simulation Analysis of Parallel Weeding Robot Based on a Double Spraying System

作　　者：李鑫 聂宇成 杨婕 金小俊[1] 陈勇[1] 于佳琳 LI Xin;NIE Yucheng;YANG Jie;JIN Xiaojun;CHEN Yong;YU Jialin(College of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China;Institute of Advanced Agricultural Sciences,Peking University,Shandong Weifang 261000,China)

机构地区：[1]南京林业大学机械电子工程学院,南京210037 [2]北京大学现代农业研究院,山东潍坊261000

出　　处：《中国农业科技导报(中英文)》2025年第2期108-115,共8页Journal of Agricultural Science and Technology

基　　金：国家自然科学基金项目(32072498)。

摘　　要：为解决草坪与牧草的杂草精准防控问题,研制出一种基于并联执行机构的精准喷药除草机器人,可分别满足草坪与牧草的精准除草需求。基于草坪与牧草常见杂草种类和除草剂杀草谱设计了双喷施药系统,该系统具备2个药箱,可通过三通电磁阀选择不同的除草剂;对并联机构进行运动学理论计算和ADAMS仿真分析,在MATLAB中绘制出并联机构的理论工作空间的图像,可得工作空间在X、Y、Z轴上的极值,X_(max)=320.9 mm、X_(min)=−321.3 mm、Y_(max)=319.5 mm、Y_(min)=−320.7 mm、Z_(max)=−175.3 mm、Z_(min)=−662.8 mm,包含给定工作空间。基于以上结果制造样机,并对机器人实际可达的工作空间范围进行测量。研究结果表明,基于2套药液输送系统的并联除草机器人符合设计要求,可用于除草剂精准喷施的草坪与牧草杂草防控。In order to solve the problem of precise prevention and control of weeds in lawn and forage,a precise spraying and weeding robot based on parallel actuator was developed in this paper,which could meet the needs of precise weeding of lawn and forage,respectively.2 liquid delivery systems were designed based on the common weed species of lawn and pasture and the herbicide spectrum.The system had 2 medicine boxes,which could select different herbicides through three-way solenoid valves.The theoretical calculation and ADAMS analysis of kinematics of the parallel mechanism were carried out.The image of the theoretical workspace of the parallel mechanism was drawn in MATLAB.The extreme values of the workspace on the XYZ axis were X_(max)=320.9 mm,X_(min)=−321.3 mm,Y_(max)=319.5 mm,Y_(min)=−320.7 mm,Z_(max)=−175.3 mm,Z_(min)=−662.8 mm,including the given workspace.Based on the above results,an experimental prototype was manufactured,and the actual working space range of the robot was measured.The research results showed that the parallel weeding robot based on 2 sets of liquid delivery systems met the requirements and could be used for the prevention and control of lawn and forage weeds with precise spraying of herbicides.

关 键 词：并联机构 除草机器人 除草剂杀草谱 精准喷施 运动学分析 

分 类 号：S224.3[农业科学—农业机械化工程]