卢伟,陈浩,王玲,赵贤林,章永年.拖拉机驾驶机器人换挡机械手运动分析[J].农业机械学报,2016,47(1):37-44.
Lu Wei,Chen Hao,Wang Ling,Zhao Xianlin,Zhang Yongnian.Motion Analysis of Tractor Robot Driver’s Gear Shift Mechanical Arm[J].Transactions of the Chinese Society for Agricultural Machinery,2016,47(1):37-44.
摘要点击次数: 1257
全文下载次数: 645
拖拉机驾驶机器人换挡机械手运动分析   [下载全文]
Motion Analysis of Tractor Robot Driver’s Gear Shift Mechanical Arm   [Download Pdf][in English]
投稿时间:2015-07-20  
DOI:10.6041/j.issn.1000-1298.2016.01.006
中文关键词:  拖拉机  驾驶机器人  换挡  运动仿真  参数优化
基金项目:国家自然科学基金青年基金项目(51405239)、江苏省自然科学基金青年基金项目(BK20130696)、中央高校基本科研业务费专项资金项目(KYZ201427)和远程测控技术江苏省重点实验室开放基金项目(YCCK201501)
作者单位
卢伟 南京农业大学
远程测控技术江苏省重点实验室 
陈浩 南京农业大学 
王玲 南京农业大学 
赵贤林 南京农业大学 
章永年 南京农业大学 
中文摘要:针对小型四轮农用拖拉机变速箱换挡阻力呈现时变、非线性特性,且换挡后需要松开换挡杆的特殊要求,设计了拖拉机驾驶机器人换挡机械手,该机械手为关节型结构,采用D-H方法建立机械手坐标变换矩阵,对机械手进行运动学分析,并通过拉格朗日动力学方程建立简化机械手的动力学模型。利用SolidWorks建立换挡机械手虚拟样机模型,并采用多体动力学仿真软件ADAMS进行运动学和动力学仿真;为保证换挡平顺性,设置机械手末端执行器与拖拉机变速杆端部间位移小于50mm为约束条件,将换挡过程中末端执行器抖动速度绝对值最小作为目标函数进行参数优化,当换挡机械手长度为220.0mm、末端高度为393.25mm时目标函数最优,此时机械手末端执行器抖动速度平均值较优化前减小28.18%,位移和加速度平均值变化率分别为49.55%和52.05%,位移、速度和加速度的峰值变化率分别为60.22%、66.24%和81.66%,通过仿真初步验证了所提机械手参数优化及所建模型的合理性和科学性。最后,在JINMA 300E型拖拉机上对优化后的换挡机械手进行实验研究,实验结果表明机械手可实现不同挡位的换挡动作,平顺性好,并可模拟拖拉机驾驶员换挡完成后对变速杆的松手动作,有良好的工程和应用价值。
Lu Wei  Chen Hao  Wang Ling  Zhao Xianlin  Zhang Yongnian
Nanjing Agricultural University;Key Laboratory of Remote Control and Measurement Technology in Jiangsu Province,Nanjing Agricultural University,Nanjing Agricultural University,Nanjing Agricultural University and Nanjing Agricultural University
Key Words:tractor  robot driver  gear shift  motion simulation  parameter optimization
Abstract:Respect to the character that the gearbox shifting resistance exist in the four wheel minitype agricultural tractor is time varying and nonlinear and the special requirement that the gear shift lever has to be released after shifting, this paper designed a novel gear shift mechanical arm for tractor robot driver. This manipulator is joint type. According to the manipulator’s operating characteristic, this paper applied D-H method to establish the coordinate transformation matrix. Based on the kinematics analysis on the manipulator, Lagrange equation was used to simplify kinetic model of the manipulator. SolidWorks and ADAMS were applied to establish the virtual prototype model of the manipulator and to do kinematic and dynamic simulation respectively. In order to guarantee the smoothness of shift, the distance between the terminal of the manipulator’s actuator and the gear shift lever of the tractor was set to less than 50mm. The absolute value of terminal actuator’s minimum jitter speed during shift was optimized as the objective function. The target function is optimal when the length of shift manipulator is 220.0mm and the height of the terminal is 393.25mm. After optimization, the jitter speed fluctuation is 28.18% less than before. The rate of change of average displacement and average acceleration are 49.55% and 52.05%. At the same time, the peak value of the displacement, velocity and acceleration are 60.22%, 66.24% and 81.66%, respectively. Through the simulation, the optimization of the parameters of the manipulator, the rationality and the scientificity of the model are verified. Finally, through the experiment on gear shift mechanical arm on JINMA 300E tractor, the result shows that the gear mechanical arm can realize the goal to shift different gears smoothly. In addition, the design of the gear mechanical arm can complete some complicated actions of tractor’s driver. Thus, the gear shift mechanical arm has excellent engineering and application value.

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.

   下载PDF阅读器