穴盘苗取苗机械臂的设计与仿真研究

Design and Simulation of Plug Seedling Picking Manipulator

针对目前新疆地区穴盘苗移栽主要以人工取苗为主,机械栽植为辅,劳动强度大、移栽效率低等问题,设计了一种满足穴盘苗移栽农艺要求的4自由度取苗机械臂。采用D-H法建立了取苗机械臂的连杆坐标系和运动学方程,实现了机械臂运动学正解。运用ADAMS软件构建了取苗机械臂虚拟样机简化模型,并进行了虚拟样机仿真试验。试验结果表明:取苗机械臂运行平稳,动作灵活,机械臂系统具有较好的轨迹跟踪能力,取苗轨迹满足夹茎取苗作业要求。研究可为全自动移栽机取苗机械臂的设计提供参考。

Aiming at the problems of high labor intensity and low transplanting efficiency in plug seedling transplanting in Xinjiang,a 4-DOF transplanting manipulator was designed to meet the agronomic requirements of plug seedling transplanting.The D-H method is used to establish the linkage coordinate system and kinematics equation of the manipulator,and the forward kinematics solution of the manipulator is realized.The simplified model of the virtual prototype of the seedling picking manipulator was constructed by using ADAMS software,and the simulation experiment of the virtual prototype was carried out.The results show that the manipulator runs smoothly without mutation and impact.The manipulator system has good track tracking ability,and the track of picking seedlings can meet the requirements of picking seedlings.The research can provide a reference for the design of the mechanical arm of the automatic transplanter.