Design And Experiment Research Based On Solution Region Synthesis Of Planetary Gear System Transplanting Mechanism With 3R Complete Rotation Kinemtic Pair

In the field of agricultural production,planetary gear train mechanism is widely used in the design of seedling transplanting mechanism because of its simple structure,stable transmission and good rotation performance.Nevertheless,the existing 2R open chain planetary gear train mechanism has only a single planetary frame,so the trajectory design is not flexible,this 2R mechanism is difficult to meet the needs of complex transplanting trajectory and achieving accurate position.In addition,when the existing 3R open chain planetary gear transplanting mechanism is designed,cannot ensure that the hinge kinematics keeps one-way rotation in one cycle,which means the pure mechanical mechanism cannot be used to realize the action of planting seedling.Based on this,the paper focuses on the transplanting mechanism of 3R single-turn full-turn gear train based on the de-domain synthesis.Through the 4 accurate positions on a given trajectory and hinge full-turn pair,the optimal parameter solution will be obtained,which will satisfy the 3R single-turn full-turn gear train transplanting mechanism.Finally,3D design of the parts,virtual simulation and transplanting experiment of the physical prototype will be tested.The main contents of the paper are concluded below:1)According to the investigation,the 2R open-chain planetary gear train mechanism has problems such as not flexible track and few research methods to achieve accurate position and pose,and the existing 3R mechanism cannot guarantee one-way rotation within a cycle when moving,which increases the complexity of the transplanting arm design,Therefore,this paper puts forward the research topic of 3R single cycle integral gear transplanter based on solution domain synthesis.2)Combined with the modern synthesis theory and method of linkage mechanism,the expression of generalized Brinell curve is derived,and the feasible solution domain of the 4-position motion generation problem is obtained.The solutions that do not conform to the one cycle integral rotation pair are eliminated by the angle discrimination condition.Finally,the 3R open link group model is established according to the solution domain.3)The working principle and characteristics of pot seedling transplanting were analyzed.A 3R open chain planetary gear train mechanism was obtained by combining the rotation of rod group with the movement of gear train.Taking flower seedlings as the research object,According to the requirements of transplanting,the objective of trajectory optimization is proposed.4)The parameter optimization software of 3R planetary gear train mechanism is written by MATLAB software,which realizes the judgment of the whole rotation pair and the visual output of the result parameters.This software could obtain the optimal solution satisfying the 3R single-cycle whole rotation pair transplanting mechanism.5)After getting the parameters of the mechanism,the 3D design of the parts is completed in Solid Works,then complete the overall structural assembly.Then the running track of the mechanism is obtained in Adams simulation software.Finally,the feasibility and practicability of the design method are verified by pot seedling transplanting experiment...