机械手夹持机构运动与控制联合仿真研究
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摘要
设计一种基于曲柄滑块机构原理的简易农用移栽机机械手夹持机构,以期将其用于穴盘苗全自动移栽机自动取苗末端执行机构,针对机械手在取苗过程中的钵苗基质的夹持力分散、振动损伤以及穴盘损伤问题,利用ADAMS的虚拟样机动态仿真功能及MATLAB中的控制模块Simulink的控制功能,采用双闭环PID控制方法对机械手夹持角度进行实时动态联合仿真分析。联合仿真的结果表明,设计的夹持机构系统具有良好的动态响应和轨迹跟踪特性。该方法提高了设计效率、降低了成本,且研究结果可对机械手夹持机构的控制系统实际应用提供一定的指导。
A simple agricultural machinery manipulator clamping mechanism of transplanting machine was designed based on the principle of the hand crank slider mechanism so as to be used for end effector of grafting seedling automatic transplanting machine. As for the seedling substrate clamping force dispersion, vibration damage and plug damage problems with the manipulator in the process of picking seedling, the function of Simulink control module and the function of virtual prototyping and dynamic simulation in ADAMS were used to dynamically analyse the clamping angle of manipulator in real-time with the double loop PID control method. The co-simulation results show that the designed clamping mechanism system has preferable dynamic response and better tracking properties. This method can improve the design efficiency and reduce the cost. The research results can provide some guidance for the practical application of control system manipulator clamping mechanism.
A simple agricultural machinery manipulator clamping mechanism of transplanting machine was designed based on the principle of the hand crank slider mechanism so as to be used for end effector of grafting seedling automatic transplanting machine. As for the seedling substrate clamping force dispersion, vibration damage and plug damage problems with the manipulator in the process of picking seedling, the function of Simulink control module and the function of virtual prototyping and dynamic simulation in ADAMS were used to dynamically analyse the clamping angle of manipulator in real-time with the double loop PID control method. The co-simulation results show that the designed clamping mechanism system has preferable dynamic response and better tracking properties. This method can improve the design efficiency and reduce the cost. The research results can provide some guidance for the practical application of control system manipulator clamping mechanism.
引文
[1] 刘炜,刘继展. 穴盘苗移栽机器人末端执行器综述[J]. 农机化研究, 2013,35(7):6-10.
[2] 韩绿化,等. 基于穴盘苗力学特性的自动取苗末端执行器设计[J]. 农业机械学报, 2013,(11):260-265.
[3] 文怀兴,柳建华,鲁剑啸. 基于ADAMS的夹持机械手虚拟设计及其结构优化[J]. 机械设计与制造, 2010,(3):75-77.
[4] 马如奇,郝双晖,郑伟峰. 基于MATLAB与 ADAMS的机械臂联合仿真研究[J]. 机械设计与制造,2010,(4):93-95.
[5] 薛定宇,陈阳泉. 基于MATLAB/Simulink的系统仿真技术与应用[M]. 北京:清华大学出版社,2002.
[6] 谷鸣宇,秦荣荣,杨达意.机械手动力学的ADAMS与 MATLAB联合仿真研究方法[J]. 机械设计,2005,22(S):227-228,250.
[7] 李杰仁,等.某高炮自动机虚拟样机仿真[J]. 四川兵工学报,2009,30(6):69-71.
[8] 任远,白广忱. 基于ADAMS与Simulink的机电一体化系统联合仿真[J]. 机电一体化, 2009,15(6):31-34.
[2] 韩绿化,等. 基于穴盘苗力学特性的自动取苗末端执行器设计[J]. 农业机械学报, 2013,(11):260-265.
[3] 文怀兴,柳建华,鲁剑啸. 基于ADAMS的夹持机械手虚拟设计及其结构优化[J]. 机械设计与制造, 2010,(3):75-77.
[4] 马如奇,郝双晖,郑伟峰. 基于MATLAB与 ADAMS的机械臂联合仿真研究[J]. 机械设计与制造,2010,(4):93-95.
[5] 薛定宇,陈阳泉. 基于MATLAB/Simulink的系统仿真技术与应用[M]. 北京:清华大学出版社,2002.
[6] 谷鸣宇,秦荣荣,杨达意.机械手动力学的ADAMS与 MATLAB联合仿真研究方法[J]. 机械设计,2005,22(S):227-228,250.
[7] 李杰仁,等.某高炮自动机虚拟样机仿真[J]. 四川兵工学报,2009,30(6):69-71.
[8] 任远,白广忱. 基于ADAMS与Simulink的机电一体化系统联合仿真[J]. 机电一体化, 2009,15(6):31-34.