Parameter Optimization Design And Experiment Of Rice Pot Seedling Transplanting Mechanism Based On Kinematic Mapping

In the rice pot seedling transplanting mechanisms,clip soil type of the pot seedling transplanting mechanism is a kind of transplanting mechanism which is focused on to improve grain yield effectively in recent years.Its transplanting trajectory is a complex plane trajectory with the characteristic of sharp shape,which can be realized theoretically by using the planetary gear train mechanism with the single planetary carrier with the simplest structure and the better economic.The traditional multi-position synthesis method of gear train mechanisms can not take into account the position and attitude of trajectory points during early process of design,therefore,a multi-pose synthesis method for gear train mechanisms is proposed,which is of great significance to the design of the rice pot seedling transplanting mechanisms.In addition,under the condition of meeting the requirements of the rice pot seedling transplanting,the non-circularity of non-circular gears directly affects the kinematics characteristics and the service life of the mechanism.In order to solve the above two problems effectively,in this paper,a method is proposed to meet the requirements of rice pot seedling transplanting,that is,to meet the requirements of the trajectory and attitudes,and to minimize the dimension of the non-circularity of non-circular gears at the same time.The main contents of this paper are as follows:1)The five-pose synthesis method of the linkage mechanisms in kinematic mapping theory was analyzed,then the exact synthesis analysis process of five-pose of planetary gear train was completed,what’s more,the approximated synthesis method of five-pose of planetary gear train was presented while there was no exact solution or exact solution could not satisfy the actual demand.2)According to the design requirements of rice pot seedling transplanting,the mathematical model of planetary gear train with non-circular gears was established,the distribution method of the odd and even level gear ratios of non-circular gears was put forward,and the human-computer interaction interface of the transplanting mechanism was compiled by using the platform of MATLAB GUI.3)The optimization methods were proposed to minimize the dimension of the non-circularity of non-circular gears and obtain two-level non-circular gears with the similar dimension of the non-circularity under the condition of satisfying the transplanting requirements,then the parameter optimization interface based on genetic algorithm was compiled to obtain a gear train mechanism which meets the requirements of clip soil type of the pot seedling transplanting.4)According to the requirements of pot seedling transplanting,the structure design of transplanting mechanism was completed,the three-dimensional model of transplanting mechanism was established,the kinematics simulation of virtual prototype was accomplished,the physical prototype of transplanting mechanism was developed,then the test of gripping seedling were achieved on the test bench by our research group developed independently.Based on the above methods,according to the application example of design of rice pot seedling transplanting mechanism,the correctness of the theoretical design was verified by comparing the theoretical trajectory with the actual trajectory.