摇杆式桑叶采摘装置的运动学仿真分析

Kinematics Simulation Analysis of Rocker Type Mullberry Leaf Picking Device

根据桑叶采摘的运动过程,以摇杆式桑叶采摘装置的曲柄连杆机构为研究对象,对平面机构进行运动学理论分析,得到滑块的运动特效与曲柄转角函数的关系,在MATLAB中对函数进行求解并绘制曲线。将采桑装置的三维模型导入ADAMS软件,通过建立运动学模型进行运动仿真分析,得到滑块位移、速度与加速度随曲柄转角变化的关系曲线,与理论计算曲线进行对比发现,两者曲线基本保持一致,数据误差均属于可控范围。从仿真结果可以反映摇杆式桑叶采摘装置的工作状况,实时反馈在工作中可能会出现的问题,为摇杆式桑叶采摘机的物理样机研制提供理论依据。

According to the movement process of mulberry leaf picking,the crank-link mechanism of the rockertype mulberry leaf picking device is taken as the research object,and the kinematic theory analysis of the plane mechanism is carried out to obtain the relationship between the displacement,velocity and acceleration of the slider and the crank angle function. Solve the function and draw the curve. The 3 D model of the mulberry device was imported into the ADAMS software,and the kinematics model was established to analyze the motion. The relationship between the displacement,velocity and acceleration of the slider with the crank angle was obtained. Compared with the theoretical calculation curve,the curves were basically maintained. Consistent,data errors are all within the controllable range. The simulation results can reflect the working condition of the rocker type mulberry leaf picking device,and feedback the problems that may occur in the work in real time,and provide a theoretical basis for the physical prototype development of the rocker type mulberry leaf picking machine.