In order to improve the accuracy and stability of transplanting machine seedling picking,a seedling pick-up mechanism was designed,which was controlled by a controller and driven by brushless DC servo motor.At the sam...In order to improve the accuracy and stability of transplanting machine seedling picking,a seedling pick-up mechanism was designed,which was controlled by a controller and driven by brushless DC servo motor.At the same time,the parameters of the seedling manipulator were optimized:the mathematical model for the seedling pick-up mechanism was established.According to the predetermined trajectory requirements,the objective function and constraint conditions were proposed,and then the optimal size was obtained by a multi-objective genetic algorithm.At last,Automatic Dynamic Analysis of Mechanical Systems(ADAMS)software was used to simulate and analyze the kinematics and trajectory of the seedling pick-up mechanism,and the mechanism was tested to verify the effectiveness of the mechanism prototype.The experiments showed that the success rate of seedling picking was 94.32%,the rate of acceptably planted seedlings was 96.67%,and the rate of excellently planted seedlings was 63.48%.展开更多
基金This research was supported by the National Natural Science Foundation of China(Grant No.51775104).
文摘In order to improve the accuracy and stability of transplanting machine seedling picking,a seedling pick-up mechanism was designed,which was controlled by a controller and driven by brushless DC servo motor.At the same time,the parameters of the seedling manipulator were optimized:the mathematical model for the seedling pick-up mechanism was established.According to the predetermined trajectory requirements,the objective function and constraint conditions were proposed,and then the optimal size was obtained by a multi-objective genetic algorithm.At last,Automatic Dynamic Analysis of Mechanical Systems(ADAMS)software was used to simulate and analyze the kinematics and trajectory of the seedling pick-up mechanism,and the mechanism was tested to verify the effectiveness of the mechanism prototype.The experiments showed that the success rate of seedling picking was 94.32%,the rate of acceptably planted seedlings was 96.67%,and the rate of excellently planted seedlings was 63.48%.
