温室穴盘苗并联移栽机器人不同路径下的移栽试验研究

Experimental Study on Plug Seedling by Parallel Transplanting Robot under Different Trajectory in Greenhouse

根据确定的并联机器人机构设计了一款温室并联移栽机器人装置。以“门字型”移动规律分析移栽路径,通过仿真得到温室并联移栽机器人的工作空间。针对128孔黄瓜苗的移栽需求,利用温室并联移栽机器人样机进行移栽性能和效果测试。在不同移栽加速度和移栽路径条件下对比移栽合格率,研究发现,移栽加速度为30 mm/s2时,合格率下降达到临界值;加速度逐步增加时,移栽合格率逐步下降。

A parallel transplanting robot device was designed according to the transplanting requirements in greenhouse. The transplanting path was analyzed by the “door-shape” movement law, and the workspace of the greenhouse parallel transplanting robot was obtained through simulation. Finally, the transplanting performance and effect were tested according to the transplanting requirements of 128-hole cucumber seedlings by using the greenhouse parallel transplanting robot prototype. The study found that under the conditions of different transplanting accelerations and transplanting trajectory, compared to the transplanting qualified rate,the qualified rate dropped to the critical value when the transplanting acceleration was 30 mm/s2. And the transplanting qualified rate decreased gradually while the acceleration increased gradually.