刘晋浩,潘海兵,舒庆.草方格铺设机器人多体动力学仿真与试[J].农业机械学报,2009,40(6):153-157.
.-body Dynamic Simulation and Experiments of the Straw-checkerboard Barriers Paving Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2009,40(6):153-157.
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草方格铺设机器人多体动力学仿真与试   [下载全文]
-body Dynamic Simulation and Experiments of the Straw-checkerboard Barriers Paving Robot   [Download Pdf][in English]
  
DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  草方格  机器人  多体动力学  仿真分析
基金项目:
刘晋浩  潘海兵  舒庆
北京林业大学
中文摘要:采用Pro/E和ADAMS软件相结合的方法,建立了草方格铺设机器人动力学模型,同时探讨了二者联合建模仿真的一般步骤。模型添加必要的边界条件后,对纵向压轮和横向插刀正常动作时的草方格铺设机器人振动状态进行了仿真。通过仿真,得到了牵引车、纵向铺设机构、横向铺设机构、纵向压轮和横向插刀质心的位移、速度以及加速度曲线。分析了这些曲线出现波动的原因,为进一步的优化提供了数据。通过试验,得到实际状态下的试验曲线,并与仿真曲线进行对照,证实了草方格铺设机器人仿真模型和仿真结果的合理性和可靠性。
Key Words:
Abstract:The multi-body dynamic model of the straw-checkerboard barriers paving robot is built through the combination of the Pro/E and ADAMS software. After the model is added with the required boundary conditions, the vibration state of the strawcheckerboard barriers paving robot is simulated when the pressing wheel and insert blade work normally. Through the simulation, the displacement, velocity and acceleration curves of the mass centers to the robot’s tractor, longitudinal paving mechanism, horizontal paving mechanism, pressing wheel and insert blade are obtained. Through the analysis of the fluctuation curves, the improvement solution is proposed, which provides data for further optimization of the robot. At last, the experiment curves in the actual state are obtained by the experiment. By the contrast of the experiment and simulation curves, it is confirmed that the simulation results of the straw-checkerboard barriers paving robot are reasonable and reliable.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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