摘要
通过穴盘苗钵体受力及夹持的工作原理分析,确定出机械手末端执行器结构参数。用3个汽缸分别来完成竖直方向、水平方向及手指开合的运动,通过合成运动实现了手指端插及穴盘苗钵体的动作。应用ADAMS对机械手进行了运动学仿真及合成运动的轨迹分析,确定了最优的工作速度,验证了机械手设计的合理性,完成了穴盘苗移栽机械手样机的试制。
The structure parameters of clamping equipment of potted tray seedlings transplanting manipulator was designed by analysis of forces and working principle,Three cylinders controlled vertical, horizontal and clamping movements,and clamping potted tray seedling was accomplished by synthesis of vertical and level Movements. In order to confirm speed of the cylinders and rationality of the manipulator, with the application of ADAMS, the kinematics simulation of synthesis movement track was analyzed, At last the manipulator was manufactured.
出处
《沈阳农业大学学报》
CAS
CSCD
北大核心
2007年第3期437-439,共3页
Journal of Shenyang Agricultural University
基金
辽宁省自然科学基金项目(20052127)
沈阳农业大学青年基金(2005016)
