杨启志,孙梦涛,蔡静,石新异,毛罕平,顾俊.温室穴盘苗并联高速移栽机器人运动误差分析与试验[J].农业机械学报,2018,49(3):18-27.
YANG Qizhi,SUN Mengtao,CAI Jing,SHI Xinyi,MAO Hanping,GU Jun.Kinematic Error Analysis and Test of High-speed Plug Seeding Transplanting Machine for Greenhouse Based on Parallel Mechanism[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(3):18-27.
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温室穴盘苗并联高速移栽机器人运动误差分析与试验   [下载全文]
Kinematic Error Analysis and Test of High-speed Plug Seeding Transplanting Machine for Greenhouse Based on Parallel Mechanism   [Download Pdf][in English]
投稿时间:2017-08-16  
DOI:10.6041/j.issn.1000-1298.2018.03.002
中文关键词:  温室  穴盘苗  并联机构  移栽机器人  运动误差  试验
基金项目:国家自然科学基金项目(51475216、51675239)、“十二五”国家科技支撑计划项目(2013BAD08B03-1)、江苏省自然科学基金项目(BK20161344)、江苏省六大人才高峰项目(ZBZZ-022)、江苏省高校优势学科建设工程项目(苏财教(2014)37号)和镇江市农业科技支撑项目(NY2014031)
作者单位
杨启志 江苏大学 
孙梦涛 江苏大学 
蔡静 江苏大学 
石新异 江苏大学 
毛罕平 江苏大学 
顾俊 江苏大学 
中文摘要: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,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并联式三平移移栽机器人,阐述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,样机经误差补偿后,平均误差由7.611mm降低到1.208mm,其中大部分误差为系统误差。运动试验发现,机构运行平均速度为2m/s、加速度峰值为20m/s2时,满足精度要求;但机构在平均速度3m/s、加速度峰值30m/s2时,误差会扩大,需要进一步改善关节径向支撑力。
YANG Qizhi  SUN Mengtao  CAI Jing  SHI Xinyi  MAO Hanping  GU Jun
Jiangsu University,Jiangsu University,Jiangsu University,Jiangsu University,Jiangsu University and Jiangsu University
Key Words:greenhouse  plug seeding  parallel mechanism  transplanting machine  motion error  experiment
Abstract:The greenhouse plug seedlings transplanting machines applied to industry are mostly with three-dimensional gantry structure. There are some obvious shortcomings like large size and inertia, low relatively rigidity, high prices and poor flexibility in operating capacity and not suitable for filling the gaps with seedlings or rejecting seedlings in high-speed operation. In view of these problems, it was intended to design a transplanting machine system with main body of parallel mechanism. The main structure of parallel transplanter and its five kinds of end effector of matching design were introduced. And then the quality of these end effectors was calculated. First of all, the rigid-flexible coupling multi-body dynamics model of parallel mechanism was established in ADAMS. Secondly, a longest diagonal trajectory was picked for simulation, and the error between the theoretical trajectory of the rigid model and the actual trajectory of the flexible model was compared. And then, the influence of changes of mass to motion error was set and explored by rigid-flexible coupling multi-body dynamics simulation in ADAMS and the feasibility of the parallel design was verified. It was found that there was oscillation at the end of the transplanting track. Finally, the positioning accuracy was tested by the physical prototype. Position error of the moving platform to each point was counted and the control system was compensated. It was turned out that the average positioning error was reduced from 7.611mm to 1.208mm. And most of the errors were systematic errors. During working process, the transplanting machine was with low deformation and high accuracy in taking and delivering stage during acceleration peak was 20m/s2 and average speed was 2m/s. But when the average speed was 3m/s and the acceleration peak was 30m/s2, the error was increased and the radial support force needed to be improved.

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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