步进式横向插刀机构的运动学求解与轨迹规划

Kinematics solution and trajectory planning of stepping transverse slotting mechanism

根据机构学原理,提出一种多杆步进式并联横向插草机构。通过Matlab软件求解运动学模型得到插刀机构标记点插草过程中连续变化的曲线,利用fsolve函数进行插刀标记点的轨迹规划,借助Creo2.0对步进式插刀机构进行三维建模,并在ADAMS中对插刀机构作业时常设置的纵向宽900、1 000和1 100 mm这3种情况进行运动仿真,通过标记点P的运动轨迹分析步进式插刀机构的作业性能。结果表明:与旋转式插刀相比,步进式插刀机构具有良好的作业效率与精度,且操作灵活,能够满足铺设草方格的作业要求。

A multi rod stepping parallel slotting mechanism is proposed according to the principle of mechanism. The continuous change curve of the point marked on slotting mechanism during the straw inserting process was obtained by the Matlab software according to the kinematic model,and the fsolve function was used to plan the trajectory of marked point. A 3 D modeling of stepping slotting mechanism was conducted by Creo2. 0 and was simulated dynamically based on ADAMS for machine operation with longitudinal width of 900,1 000 and 1 100 mm. The working performance of the mechanism was analyzed by the motion path of the mark point P. Its efficiency,accuracy and flexible operation can meet the requirement of paving straw check.