The Virtual Simulation And Experimental Research On Panax Notoginseng Transplanting Manipulator

Panax notoginseng is a rare Chinese herbal medicine which has good medicinal value. Panax notoginseng planting area in Wenshan, Yunnan province is more than 90% of all. Currently, Panax notoginseng transplanting is still using inefficient manual transplanting. With the improvement of the level of urbanization, the rural labor force decreases, resulting in increased labor costs. However, Because of panax notoginseng’s unique growing environment and agronomic requirements, seedling transplanting machine in the market is not suitable for panax notoginseng’s transplanting. This paper presents a six degrees of freedom transplanting manipulate of panax notoginseng to achieve the automatic annual pseudo-ginseng transplantingIn this paper, it conducted the following studies for panax notoginseng transplanting manipulate:(1) Institutional design. Set as six degrees of freedom for the manipulator, according to the robot’s working environment and working methods. Determine the form of movement of each joint and the rotation angle range. In accordance with annual panax notoginseng physical characteristics, design seed separation and seed gripping device by vibrating the box for panax notoginseng seedlings separation. According to the characteristics of robot models, select the motor drive as the drive way of the manipulator, and the motor and gear models. After the physical parameters of the mechanism determined, three-dimensional virtual prototyping modeling is created in the Solidworks 2013 environments, and Statics analysis and optimize are made by ANSYS software for critical components.(2) Dynamics simulation and trajectory planning. Three-dimensional model was conducted dynamics simulation and analysis through the interface Matlab Robotics Toolbox. And each joint velocity, displacement and acceleration curve were obtained. Baseed on panax notoginseng transplanting requirements in efficiency, the time-optimal path planning was set as the optimization criterion. The shortest path was designed for each seedling transplanting points and seedlings geting points, then optimized the design, andobtain several seedlings take paths. Planning transplanting path for panax notoginseng transplanting manipulate was optimized the optimal transplanting path.(3) Control systems hardware circuit design. According to the control requiring of the panax notoginseng transplanting manipulate, the control systems which was composed with adigital signal process (DSP) as the master chip module, STM32 module, complex programmable logic devices (CPLD) modules, motor drive module is designed. The digital signal processor (DSP) chip was choosen as the master of the system, and carried out planning and analysis for each module separately.(4) Test verification.The time of per plant transplanting and continuous operation transplanting was set to experimental factors. Test validation track program in the panax notoginseng transplanting robot experiment platform. Comparison of experimental results, robot motion planning study period closer to the theoretical cycle during per plant operation, the relative standard deviation was 0.35% in the period repeat continuous operation. Tests showed that, the optimized trajectory actual transplanting time approaching the theoretical value. Scheme is feasible.The paper designs six degrees of freedom manipulator transfer and design an optimal path planning, and transplanting efficiency is higher. It provides theoretical guidance for the pseudo-ginseng transplanting automation.