“8形”凸轮整排取苗机构运动学分析与仿真

Kinematics Analysis and Simulation of the 8 Shapes Cam Whole Row Picking Seedling Machinery

针对目前国内旱地移栽机存在取苗效率和自动化程度低等问题,设计了一种"8形"凸轮整排取苗机械手,并进行了运动学分析。同时,通过建立数学模型,推导出机械手各个关节速度与加速度方程,以"8形"凸轮整排取苗机械手的设计结构为出发点,建立取苗机械手的样机模型,使用Mat Lab和ADAMS求解苗针位移方程进行对比,并在ADAMS下进行了仿真,验证了数学模型的正确性,且对数学模型进行了优化。

In order to solve the problem of the low efficiency of the pick- up mechanism in the process of seedling transplanting. The paper adopted a whole line automatic pick- up seedling mechanism,which is designed on the basis of the'8'form cam mechanism. To simulate'8'form cam mechanism controlling seeding needle work attitude,The paper adopted the slider- crank mechanism to replace the '8 'form cam mechanism working status. Through the kinematic analysis of the mechanism,and the corresponding mathematical model is established,built mechanical hand joint velocity and acceleration; Constrated the needls kinematic trajectory which solved by MatLab and ADAMS,verified the mathematical expression was validity,which also offered a way to optimize mathematical model.