植物茎秆柔性夹持装置刚柔耦合仿真与试验

Rigid-flexible Coupling Simulation and Experiment of Plant Stem Clamping Device Based on ADAMS

针对现有植物茎秆夹持装置存在夹伤茎秆、夹持行程及夹持力不可调等问题,设计一种植物茎秆柔性夹持装置,夹持手内置弹簧可实现植物茎秆柔性夹持,能进行夹持力与夹持行程双调节,更好适应植物茎秆在力学试验、嫁接、茎秆切割试验等领域夹持需求。基于所建立夹持装置刚柔耦合仿真模型,进行夹持力、夹持行程、弹簧刚度等多因素动力学对比仿真与试验分析,以弹簧刚度为设计变量进行灵敏度及稳定性分析,研究不同弹簧刚度对柔性夹持装置夹持性能的影响。仿真与试验结果表明:装置最大夹持直径为68.8 mm,基于所构建夹持装置精准夹持力模型,可平稳调控夹持行程、速度及夹持力;随着弹簧刚度的增加,夹持力逐渐变大,夹持稳定性增加,综合比较发现当弹簧刚度为10 N/mm时,可满足装置施加400 N切割力时植物茎秆稳定夹持需求,柔性夹持力波动较小,能有效避免损伤植物茎秆。

Aiming at the problems of the existing plant stalk clamping device,such as clamping injury,clamping stroke and unadjustable clamping force,a plant stalk flexible clamping device was designed.The built-in spring of the clamping hand can realize the flexible clamping of plant stalk,and double adjust the clamping force and clamping stroke,so as to better meet the demands of plant stalk clamping in the fields of mechanics experiment,grafting and cutting test.Based on the rigid-flexible coupling simulation model of the clamping device,the multi-factor dynamic comparison simulation and test analysis were carried out,including clamping force,clamping stroke and spring stiffness.The sensitivity and stability analysis were carried out with the spring stiffness as the design variable to study the influence of different spring stiffnesses on the clamping performance of the flexible clamping device.The simulation and experiment results showed that the maximum clamping diameter of the device was 68.8 mm,and the clamping stroke,speed and clamping force can be controlled smoothly based on the accurate clamping force model of the clamping device.With the increase of spring stiffness,the clamping force was gradually increased,and the clamping stability would be increased.Comprehensive comparison showed that when the spring stiffness was 10 N/mm,it can meet the stable clamping demand of plant stems when the device applied 400 N cutting force,and the flexible clamping force had little fluctuation,which can effectively avoid damage to plant stems.