摘要
为提高果园作业平台的适用性和操作灵活性,根据乔砧密植的纺锤形苹果种植模式确定其目标工作空间,以工作空间尺寸偏差、工作空间体积和平均可操作度描述其可达工作空间性能,分析了平台主要结构参数杆长和关节变量(关节角、连杆偏移)对工作空间性能的影响。建立了以可达工作空间性能和结构紧凑为指标的优化模型,利用遗传算法求解得出最优参数为:杆2和杆4的长度分别为988、879 mm,关节1、3的关节角范围分别为[107°,256°]、[-118°,-76°],关节5、6的连杆偏移最大值分别为720、340 mm。优化后其可达工作空间尺寸偏差分别减小96.09%、95.60%,体积减小4.69%,平均可操作度增加1.43%。对优化后的果园作业平台进行了实地果园工作空间试验,结果表明:承载质量为65 kg、横坡坡度为15°、纵坡坡度为15°时,工作空间尺寸偏差最大,分别为16.2、16.7 mm,比原型分别减小93.89%、93.76%。
In order to improve the applicability of the orchard operation platform,the target workspace according to the planting mode was determined. The kinematics model established based on D-H method was derived on the basis of prototype development. The dimension deviation,volume and average operability of the platform were calculated as the indexes to evaluate the performance of the reachable workspace simulated by Monte Carlo method. The influence of the platform structure parameter rod length and joint variables( joint angle and link offset) on these three indexes were analyzed. The optimization function established by taking the performance of reachable workspace and compact structure as the optimization index was transformed into a single objective optimization function by analytic hierarchy process. The optimal parameters obtained by genetic algorithm were as follows: the length of rod 2 was988 mm,the length of rod 4 was 879 mm,the range of joint angle 1 was [107°,256°],the range of joint angle 3 was [-118°,-76°],and the maximum value of link offset 5 and 6 was 720 mm and 340 mm,respectively. Compared with the prototype,the dimension deviation of reachable workspace was decreased by 96. 09% and 95. 60%, volume was decreased by 4. 69%, average operability was increased by 1. 43%,sum of rod length was increased by 4. 85%,and sum of joint variables was decreased by 3. 11%. A three-factor three-level test with the platform load,cross slope angle and longitudinal slope angle as factors was designed. After the field test of the prototype workspace at orchard,the test results showed that when the load was 65 kg,the cross slope was 15° and the longitudinal slope was 15°,the deviation between the actual reachable workspace and the target workspace was 16. 2 mm and 16. 7 mm,which were reduced by 93. 89% and 93. 76%,respectively. The research result can provide a reference for the structural parameter optimization of similar agricultural machinery.
作者
樊桂菊
李钊
毛文华
娄伟
梁昭
姜红花
FAN Guiju;LI Zhao;MAO Wenhua;LOU Wei;LIANG Zhao;JIANG Honghua(College of Mechanical and Electrical Engineering,shandong Agricultural University,Taian 271018,China;Shandong Provincial Engineering Laboratory of Agricultural Equipment Intelligence,Taian 271018,China;Shandong Provincial Key Laboratory of Horticultural Machinery and Equipment,Taian 271018,China;Chinese Academy of Agricultural Mechanization sciences,Beijing 100083,China;College of Information science and Engineering,shandong Agricultural University,Taian 271018,China)
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2021年第4期34-42,265,共10页
Transactions of the Chinese Society for Agricultural Machinery
基金
山东省自然科学基金项目(ZR2018MC017)
山东省农业重大应用技术创新项目(SD2019NJ001)
国家重点研发计划项目(2018YFD0700604)
山东省园艺机械与装备重点实验室项目(YYJX-2019-07)。
作者简介
樊桂菊(1979—),女,副教授,主要从事智能农业装备研究,E-mail:fanguiju2002@163.com;通信作者:姜红花(1971—),女,教授,主要从事物联网与自动控制研究,E-mail:j_honghua@sdau.edu.cn。
