基于蒙特卡洛法的绿篱修剪机工作空间分析

Workspace Analysis of Hedgerow Trimmer Based on Monte Carlo Method

基于传统车载式绿篱修剪机技术设计多自由度回转型绿篱修剪机,不仅可以完成常规横面、侧面的绿篱修剪,还可实现球形、锥形等曲面造型的修剪,功能上实现一机多用,且大大提高绿篱修剪效率。装置采用电机驱动,由6个自由度组成。首先,结构部分针对所要完成的技术指标以及各机构关节的主要功能进行设计分析;其次,对绿篱修剪机运动学以及逆运动学求解计算;最后,采用蒙特卡洛法对绿篱修剪机进行运动空间仿真分析,验证回转型绿篱修剪机是否可以完成特定修剪任务,衡量该机构的工作能力和可行性。

Based on the traditional vehicle-mounted hedgerow pruning machine technology,the designed multi-degree-of-freedom back transition hedgerow pruning machine can not only complete the conventional cross-plane and side hedgerow pruning,but also realize the pruning of spherical,conical and other curved surfaces.The device,driven by motor,consists of 6 degrees of freedom.Firstly,as for the structure designs,the paper analyzes the technical indexes to be achieved and the main functions of the joints of each mechanism.Secondly,the kinematics and inverse kinematics calculation of hedge trimmer are the key components of workspace simulation analysis.Finally,the Monte Carlo method is applied.The hedgerow pruning machine is employed for the motion space simulation analysis to verify whether the transition hedge pruning machine can complete the specific pruning task,and measure the working ability and feasibility of the mechanism.