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针对现有设施农业栽培架单层存放深度浅,利用率不高,搬运需要大量劳动力等问题,设计了一种设施农业组培筐抓取装置。通过建立三维模型,初步确定方案可行性;基于接触动力学模型和非线性连续碰撞理论,提出了抓持过程中碰撞力的计算方法;对卡爪与物件的碰撞力进行动力学建模,通过ADAMS运动仿真,对搬运装置进行参数优化设计。最后搭建实验平台,通过试验表明,该抓取装置能够实现栽培架上的组培筐搬运,同时得到优化后的运动规律。
In view of the problems such as the single storey of the existing facility agricultural cultivation shelves is shallow, the utilization rate is not high, and the transportation needs a lot of labor, a facility grazing basket grasping device is designed. Through the establishment of three-dimensional model, the feasibility of the scheme is initially determined. Based on the contact dynamics model and the nonlinear continuous collision theory, the calculation method of the collision force during the grasping process is proposed. The kinetic modeling of the collision force between the jaws and the object is made. ADAMS motion simulation, parameter optimization design of handling device. Finally, the experimental platform was set up, and the experiments showed that the grasping device can realize the handling of the tissue culture basket on the cultivation rack and the optimized movement rule at the same time.