Design And Simulation Analysis Of Mechanical Device For Multi-shape Garden Hedge Trimming

With the increasing demand for hedgerow beautification,it is difficult for the traditional hedgerow trimming device to complete the trimming of multi-shaped hedgerows.Therefore,this paper proposes a kind of tow-wire hedgerow trimming machine with strong adaptability,which can trim the hedgerows with various revolving shapes.Firstly,according to the growth characteristics and trimming requirements of garden hedgerows,the working principle of garden hedgerows trimming device is explained by the inspiration of interpolation.The common driving modes of the manipulator are analyzed and compared,and the cable drive is selected to meet the needs of the multi-attitude control of the manipulator and to reduce the weight of the mechanical device.The multi-joint mechanism of6-DOF mechanical arm of garden hedge trimming device was designed to determine the arrangement of the pull wire.According to the operation requirements,the vehicle cantilever device is designed,and the three-dimensional model of the garden hedge trimming device is established by CATIA and the assembly is completed.Secondly,based on the D-H parameter method,the kinematics models of the on-board cantilever and the manipulator of the garden hedge dressing device were established respectively,and the working space of the on-board cantilever was solved by the Monte Carlo method,and the cloud image of the working space was intuitively expressed by using Matlab.The mathematical relationship between the length of the cable and the joint Angle of the mechanical arm of the garden hedge trimming device was deduced by using geometric analysis method,and the corresponding relationship between the length of the cable and the joint Angle of the mechanical arm of the garden hedge trimming device was verified by ADAMS.At the same time,the kinematics simulation of the mechanical arm of the garden hedge trimming device was carried out to verify the feasibility and effectiveness of the device for multi-shape garden hedge trimming.Finally,ANSYS was used to conduct static analysis on the key components of the mechanical arm of the hedge trimming device,and the rationality of structural design and material selection was tested.In order to analyze the resonance phenomenon in dressing operation,the modal analysis of the on-board cantilever device was carried out.