摘要
课题组对一种移动并联多功能农业机器人进行了机构设计与仿真。将具有全方位移动能力的移动平台和三自由度并联机构相结合,在并联机构动平台上装载高压雾化喷头,实现农药或水资源的精准喷洒,节能减排;对机器人的相关机械结构进行模块化设计,并对承重部件进行有限元分析;最后在实验室场地进行相关模拟实验。仿真结果表明,该农业机器人具有稳定的行走能力,并能够快速精准定位到目标作物上方相应位置,进行精准作业。
The research group designed and simulated the mechanism of a mobile parallel multifunctional agricultural robot.The mobile platform with all-round mobility ability and the three-degree-of-freedom parallel mechanism are combined,and the high-pressure atomization sprinkler is loaded on the parallel mechanism moving platform to achieve accurate spraying of pesticides or water resources,energy saving and emission reduction.Modular design of the relevant mechanical structure of the robot is carried out and finite element analysis of load-bearing components is carried out.Finally,the relevant simulation experiments were carried out in the laboratory site.The simulation results showed that the agricultural robot had stable walking ability and could quickly and accurately locate the corresponding position above the target crop and perform accurate operation.
作者
王志远
康杰
顾懿
胡杨树
Wang Zhiyuan;Kang Jie;Gu Yi;Hu Yangshu(College of Mechanical&Electrical Engineering,Sanjiang University,Jiangsu Nanjing 210012)
基金
江苏省高校自然科学研究面上项目(19KJD510005)
教育部产学合作协同育人项目(201902168015)
三江学院教学建设与改革项目(J21052)
广西自动检测技术与仪器重点实验室开放基金项目(YQ21207)。
关键词
农业机器人
精准喷洒
并联机构
模块化设计
有限元分析
agricultural robots
precision spray
mobile parallel mechanism
mechanical structure design
finite element analysis
