孙艳霞,陈勇,金小俊,王艳.除草机器人减震悬架越障性能分析[J].农业机械学报,2013,44(Supp1):264-268.
Sun Yanxia,Chen Yong,Jin Xiaojun,Wang Yan.Structure Design and Simulation Analysis of Weeding Robot[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(Supp1):264-268.
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除草机器人减震悬架越障性能分析   [下载全文]
Structure Design and Simulation Analysis of Weeding Robot   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2013.S1.047
中文关键词:  除草机器人  苗间杂草  行间杂草  悬架  仿真
基金项目:“十二五”国家科技支撑计划资助项目(2011BAD20B07);教育部留学回国人员科研启动基金资助项目
作者单位
孙艳霞 南京林业大学 
陈勇 南京林业大学 
金小俊 南京林业大学 
王艳 南京林业大学 
中文摘要:为能够同时进行苗间和行间除草的高效除草机器人配置了悬架机构,使机器人具有减震性能,提高了机器人农田适应性。设计并制作了机器人物理样机。越障过程分析表明,该机器人悬架具有较强的调节性能。运用ADAMS软件建立了机器人虚拟样机,分析了机器人在凸起、斜坡和凹坑地面的越障能力。仿真结果表明机器人在这3种地形上均有良好的适应性。
Sun Yanxia  Chen Yong  Jin Xiaojun  Wang Yan
Nanjing Forestry University;Nanjing Forestry University;Nanjing Forestry University;Nanjing Forestry University
Key Words:Weeding robot  Intra-row weed  Inter-row weed  Suspension structure  Simulation
Abstract:A weeding robot that could work on intra-row weeding and inter-row weeding simultaneously was proposed to improve weeding efficiency. The robot adopted suspension structure for the optimization of field adaptability. Physical prototype of the robot was developed and manufactured. According to the obstacle-crossing analysis, the suspension structure was of good adjusting function. The obstacle navigation characteristic of weeding robot was simulated by ADAMS. Its ability of crossing obstructions in convex, concave and oblique lands was researched and simulated. The results showed that the robot could move on these three typical lands with excellent adaptability.

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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