摘要
建立了刀具刃口的曲线方程,确定其切割路径曲线和数学模型,并用仿真工具求解该模型,构建了刀具的三维模型;分析了刀具切割时的受力情况,讨论了滑切运动规律,导出了静态条件下的等滑切角刃口曲线方程,设计了刀具刃口曲线;求解了刀具切割机构的非线性偏心滑切运动方程,给出了动态条件下刀具的滑切角;对刀具受力和运动进行了三维可视化仿真,用安装该切割机构及其刀具的水果采摘机器人物理样机对1~8 mm的荔枝果枝进行了切割试验。试验和仿真结果表明,验证了刀具切力模型和运动轨迹方程有效性,切割机构带动刀具的非线性运动能实现进给与旋转切割的空间复合轨迹运动要求,省去了X与Y方向进给电动机和传动机构,达到切割目的。仿真和切割试验得到了果枝最大切割力为600 N,试验用的刀具尺寸对1~6 mm的果枝截面切割质量较好。
The curve equation of cutter was established which could determine cutting path and mathematical model.The 3-D model of cutter was constructed.Then,the force condition when the cutter working was analyzed.The law of slip shear motion was discussed.The slip shear angle of cutting edge was deduced.The edge curve of cutter was described.With the construction of slip shear motion equation of the nonlinear motion cutter,slip shear angle of the cutter under dynamic conditions was put forward.Finally,the force and movement of cutter were built in 3-D visual simulation.The harvesting robot prototype installed with the designed cutter was performed in cutting experiments,which could snip the diameter of 1 ~ 8 mm for litchi branch.Results of simulation and physical experiments showed the effectiveness of the slip shear model and movement equation of cutter.Its nonlinear motion could meet the cutting composite trajectory requirements of realizing feed movement and rotary-cutting.Meanwhile,this scheme could reduce the feed motor and transmission mechanism in X- and Y-directions and achieve the function of cutting.The maximum cutting force acquired by simulation and physical cutting tests was600 N.The proposed cutter was suit for the diameter of 1 ~ 6 mm and had good performance.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2013年第S1期247-252,246,共7页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金资助项目(31171457)
