摘要
提出了一种基于4-CRR并联机构的玉米穴播机。运用螺旋理论求解4-CRR并联机构的自由度,采用修正的Kutzbach-Grübler公式进行验证;采用等效平面投影法求解该机构的位置逆解,推导出机构的Jacobian矩阵并对其进行了速度分析;对应用于穴播机的4-CRR并联机构的杆长取值范围进行分析,通过极限边界搜索法求解了杆长为250 mm的机构的工作空间。该机构动平台可实现沿3个坐标轴方向的平移运动,工作空间内部连续,可在穴播机下方形成一个300 mm×300 mm的可调整播种区域。基于4-CRR并联机构的穴播机可根据田间土壤情况的不同,灵活调整播种位置,改变种植密度,达到玉米增产增收的效果。
A kind of corn hill-seeder based on 4-CRR parallel mechanism is presented.The degree of freedom of the 4-CRR parallel mechanism is solved by using screw theory,and verified by using the modified Kutzbach-Grübler formula.The inverse position solution of the mechanism is solved by using equivalent plane projection method,and the Jacobian matrix of the mechanism is derived to analyze its velocity.The value range of rod length of 4-CRR parallel mechanism applied to hill-seeder is analyzed.The workspace of the mechanism with a rod length of 250 mm is solved by the limit boundary search method.The moving platform of the mechanism can realize translation movements along the three coordinate axis directions.The interior of the workspace is continuous,and a 300 mm×300 mm adjustable seeding area can be formed below the hill-seeder.The hill-seeder based on 4-CRR parallel mechanism can flexibly adjust the sowing position and change the planting density according to the different soil conditions in the field to achieve the effect of increasing yield and income of corn.
作者
高海豹
李瑞琴
宁峰平
李泽辉
Gao Haibao;Li Ruiqin;Ning Fengping;Li Zehui(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)
出处
《机械传动》
北大核心
2021年第12期101-106,共6页
Journal of Mechanical Transmission
基金
山西省重点研发计划(201803D421028,201903D421051)。
关键词
4-CRR并联机构
穴播机
工作空间
位置逆解
4-CRR parallel mechanism
Hill-seeder
Workspace
Inverse position solution
