便携式棉花采摘机械手结构参数优化研究

Study on optimization and application of portable cotton picking manipulator

我国作为棉花种植的大国,各地区棉花的采摘存在较大的差异,导致棉花采摘的成本增高,效率低下。在对新疆棉花采摘过程所面临的问题进行研究,结合当地采摘要求,对便携式棉花采摘机械手进行优化设计。在给定的约束空间下,综合考虑自由度、作业区域、作业效率、机械手长度及转角等多方面因素后,构建采摘机械手范围的函数模型,利用MATLAB工具箱对模型进行优化计算,求解采摘机械手的结构参数。优化后的结果为:大臂长L4=380 mm,小臂长L5=420 mm,大小臂的范围角分别为:θ4max=134°和θ5max=116°,优化后的采摘机械手操作简便,具有高自由度,能够灵活作业,可同时采摘四行棉花且避免重复作业,效率大幅提高,并且能达到97.5%的落地棉率。同时,便携式采棉机械手价格较低,可被大部分种植农户接受,具于广阔的应用空间。

As a large cotton planting country in China,the picking of cotton in different regions is quite different,which leads to the increased cost and low efficiency of cotton picking.In this paper,the problems in the process of picking cotton in xinjiang were studied,and combined with the local picking requirements,the portable cotton picking manipulator was optimized.Under the given constraint space,a functional model of the picking manipulator range was constructed,and the MATLAB toolbox was used to optimize the model and solve the structural parameters of the picking manipulator.The optimized result is:the big arm L4=380 mm long,forearm L5=420 mm long,high Angle respectively,the scope of the forearm:θ4 max=134°andθ5 max=116°,the optimized picking manipulator with a high degree of freedom,flexibility to work,and can reach a landing cotton rate of 97.5%.At the same time,the price of the portable cotton picking manipulator is lower,which can be accepted by most farmers and has a wide application space.