本文選題：缽苗移栽 + 尺度綜合　； 參考：《江蘇大學》2017年碩士論文

【摘要】：在現(xiàn)代溫室的穴盤育苗生產中,常常需要將穴盤苗從密度較高的育苗穴盤移栽到密度較低的育苗穴盤或對需要補苗的穴孔進行補苗作業(yè)。然而在我國現(xiàn)階段的育苗溫室中,缽苗的移缽和補苗作業(yè)仍以人工作業(yè)為主,人工移缽或補苗的工作方式不僅人工成本較高,而且效率和質量較低,不符合現(xiàn)代農業(yè)機械化、集約化的發(fā)展要求。因此,急需一種自動化移栽補苗裝備與其配套。Delta并聯(lián)機構具有速度快、運動精度高、靈活性強等特點,非常適合穴盤育苗過程中的移缽作業(yè)及補苗需要。為此,本文基于三自由度Delta并聯(lián)機構和氣動取苗爪,設計了一種移栽補苗機器人。主要研究內容如下:1)通過建立Delta并聯(lián)機構的單支鏈約束方程,求解出缽苗移栽機器人的可達工作空間;根據(jù)缽苗移栽機器人盤到盤移栽、補苗的作業(yè)要求,確定出缽苗移栽機器人的設計工作空間;基于其設計工作空間,對缽苗移栽機器人進行尺度綜合,為使缽苗移栽機器人可達工作空間盡可能接近設計工作空間,并保證其在設計工作空間內具有良好的運動學性能,建立起兼顧缽苗移栽機器人工作空間與運動學性能的尺度綜合目標函數(shù),并應用遺傳算法得到機構最優(yōu)尺寸參數(shù)。2)為提高移栽補苗機器人的移栽效率和質量,對按行移栽和按列移栽兩種移栽方案進行優(yōu)選,確定按列移栽的移栽方案;基于移栽補苗機器人盤到盤移栽、補苗的工作方式,對其移栽和補苗軌跡進行規(guī)劃,并選取5次多項式規(guī)律作為移栽、補苗軌跡的控制函數(shù)�；谝圃匝a苗機器人運動學逆解和軌跡規(guī)劃,通過等時插補、運動學逆解和速度擬合,將移栽補苗機器人末端執(zhí)行器的移栽或補苗軌跡轉換為Delta并聯(lián)機構三主動臂的轉動規(guī)律;對移栽補苗機器人的移栽和補苗作業(yè)流程進行設計,實現(xiàn)移栽補苗機器人在工作區(qū)域內以按規(guī)劃的移栽路徑完成移栽、補苗作業(yè)。3)基于移栽補苗機器人尺度綜合與軌跡規(guī)劃,建立移栽補苗機器人虛擬樣機模型,選取移栽補苗機器人工作空間中兩條最遠軌跡,進行虛擬樣機仿真;仿真得出移栽動平臺的速度、加速度曲線,其變化規(guī)律符合移栽、補苗作業(yè)的運動要求,驗證了軌跡規(guī)劃的合理性;同時,仿真還得出移栽補苗機器人三主動臂的角速度、角加速度、轉矩的變化曲線,為移栽補苗機器人三主動臂電機的選型提供理論基礎。4)基于尺度綜合、軌跡規(guī)劃和虛擬樣機仿真,研制物理樣機,進行穴盤到穴盤的缽苗移栽和補苗性能試驗,結果得出:隨著移栽動平臺攜苗運動最大加速度的增大,缽土破碎率逐漸增大,缽苗移栽合格率逐漸降低,在最大加速度amax為30m/s2時,缽苗移栽合格率可達95%,移栽速率可達2149株/h,在此加速度下進行健壯苗補苗試驗,補苗合格率可達92%,證明將Delta并聯(lián)機構用于缽苗移栽機器人的可行性,以及尺度綜合、軌跡規(guī)劃和仿真分析的合理性。
[Abstract]:In the modern greenhouse, it is often necessary to transplant the seedlings from the higher density to the lower density or to make up the holes needed to supplement the seedlings. However, in the greenhouse of seedling raising in our country at the present stage, the work of moving bowl and repairing seedling is still dominated by manual work. The work mode of moving bowl or supplement seedling is not only high labor cost, but also low efficiency and quality, which does not accord with modern agricultural mechanization. Intensive development requirements. Therefore, it is urgent that a kind of automatic transplanting seedling repair equipment and its matching. Delta parallel mechanism have the characteristics of fast speed, high kinematic precision and strong flexibility, which are very suitable for the transplanting bowl operation and the need of seedling mending in the seedling raising process of hole plate. In this paper, a transplanting seeding robot is designed based on a 3-DOF Delta parallel mechanism and pneumatic claw. The main research contents are as follows: (1) by establishing the single branch chain constraint equation of the Delta parallel mechanism, the reachable workspace of the potted seedling transplanting robot is solved. The design workspace of the potted seedling transplanting robot is determined. Based on the design workspace, the scale synthesis of the bowl seedling transplanting robot is carried out, so that the workspace of the bowl seedling transplanting robot can be as close as possible to the design workspace. It is guaranteed that the robot has good kinematic performance in the design workspace, and a scale integrated objective function is established which takes into account both the workspace and kinematics performance of the transplanting robot. In order to improve the transplanting efficiency and quality of transplanting and seedling filling robot, two transplanting schemes were selected according to row transplanting and row transplanting, and the transplanting scheme according to row was determined. Based on the working mode of transplanting and repairing seedlings, the transplanting and seeding trajectory of transplanting and filling seedling robot is planned, and the law of 5th degree polynomial is selected as the control function of transplanting and repairing seedling track. Based on the kinematics inverse solution and trajectory planning of transplanting and seeding robot, through isochronous interpolation, kinematics inverse solution and velocity fitting, the transplanting or seeding trajectory of the end effector of transplanting and seeding robot is transformed into the rotational rule of three active arms of Delta parallel mechanism. This paper designs the transplanting and seeding operation flow of transplanting and seeding robot, realizes the transplanting of transplanting and seeding robot in the working area according to the planned transplanting path, and seedling mending operation .3) based on the scale synthesis and trajectory planning of transplanting and seeding robot. Establish the virtual prototype model of transplanting and seedling filling robot, select two furthest tracks in the workspace of transplanting seeding robot, carry on virtual prototype simulation, and get the velocity and acceleration curve of transplanting moving platform, its changing law accords with transplanting. The kinematic requirements of the seeding operation verify the rationality of the trajectory planning. At the same time, the angular velocity, angular acceleration and torque curves of the three active arms of the transplanting seeding robot are obtained by simulation. Based on scale synthesis, trajectory planning and virtual prototype simulation, a physical prototype was developed for transplanting seedling robot with three active arm motors. The results showed that with the increase of the maximum acceleration of seedling carrying on the transplanting platform, the rate of soil fragmentation gradually increased, and the qualified rate of transplanting was decreased gradually, when the maximum acceleration amax was 30m/s2, The qualified rate of transplanting seedling in bowl can reach 95%, and the rate of transplanting can reach 2149 / h. Under this acceleration, the test of robust seedling filling is carried out, and the qualified rate of seedling replacement can reach 92%. It is proved that the feasibility and scale synthesis of using Delta parallel mechanism in transplanting robot of potted seedling is proved. The rationality of trajectory planning and simulation analysis.
【學位授予單位】：江蘇大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：S223.9

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