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现有产业化应用的温室穴盘苗移栽机大都为三坐标龙门架式结构,其体积庞大、惯性大、相对刚度低、移栽速度低、柔性作业能力差,尤其无法满足高速剔苗、高速补苗作业要求。针对这些问题设计了一种新型并联式三平移移栽机器人,首先介绍了并联移栽机器人主体结构和为其配套设计的5种末端执行器,并统计了这些末端执行器的质量;在ADAMS中建立刚柔耦合动力学模型,选定一条最长对角线轨迹进行仿真;比较了刚性模型理论轨迹与柔性模型实际轨迹的误差,并分析了因动平台质量变化引起的误差变化情况,发现了移栽轨迹末段存在振荡问题;最后通过物理样机进行定位精度试验,发现样机经误差补偿后,平均误差值由7.211mm降低到1.208mm,其中大部分误差为系统误差。通过运动试验发现机构运行平均速度为2m/s,加速度峰值为2.04g时,精度满足要求。但机构在平均速度3m/s、加速度峰值3.06g时,误差会扩大,需要进一步改善关节径向支撑力。
The current industrial application of greenhouse seedling transplanter mostly three-coordinate gantry structure, its bulky, large inertia, low relative rigidity, low transplanting speed, flexible operation ability is poor, in particular, can not meet the high-speed pick Miao, High-speed seedling operations requirements. Aiming at these problems, a new type of parallel transplanting robot is designed. The main structure of the parallel transplanting robot and the five kinds of end effector designed for the transplanting robot are introduced first, and the quality of the end effector is calculated. In ADAMS The rigid-flexible coupled dynamic model was established and the longest diagonal trajectory was selected for simulation. The error between the theoretical trajectory of the rigid model and the actual trajectory of the flexible model was compared, and the variation of the error caused by the mass change of the moving platform was analyzed. At the end of the transplanted trajectory, there is oscillation problem. Finally, through the physical prototype positioning accuracy test, it is found that the average error of the prototype is reduced from 7.211mm to 1.208mm after error compensation. Most of the errors are systematic errors. Through the exercise test found that the average operating speed of institutions 2m / s, peak acceleration of 2.04g, the accuracy to meet the requirements. But the agency in the average speed of 3m / s, acceleration peak 3.06g, the error will be expanded, the need to further improve the joint radial support force.