Deveopment Of A Mobile Potted Palnt Handing Robot For Indoor Shelf-type Phenotype Facilities

Accurate identification of crop phenotypes is the basis for a comprehensive understanding of crop genetics,a breakthrough in the integrated creation of major crops,and the key to science and technology supporting the national food security strategy.In order to promote the construction of the indoor closed-loop high-throughput phenotyping facility in the "Crop Phenotypic Research Frontier Science Center" of Nanjing Agricultural University and improve its intelligence,this paper studies an indoor mobile potted plant handling robot.The main contents of the paper are as follows :(1)Robot mechanical system design.First,determine the overall plan of the robot by analyzing the requirements.Secondly,the modular design method is adopted to design the mechanical structure of the handling module,lifting module,and mobile walking module respectively.Finally,ANSYS simulation is performed on its key components to verify the rationality of the design.A 6-axis cooperative manipulator is selected,and a profiling arc-shaped two-finger gripping conveying gripper is designed;the lifting module uses a ball screw drive,and a 750 W DC servo drive motor(with brake)is selected through calculation;for lifting the robot Stability of operation,the mobile walking module selects the low-chassis six-wheel central differential drive mode,and selects a 400 W DC servo motor as the drive motor of the mobile platform through calculation;uses ANSYS simulation software to test the maximum stress of the frame under bending conditions The maximum stress is 47.9MPa,and the maximum displacement is 0.251mm;the maximum stress under torsion conditions is 90.3MPa,and the torsional stiffness is 0.0006°/m;the maximum stress of the test load-bearing platform under bending conditions is 84.3MPa,and the maximum displacement is 0.133mm;In addition,in order to prevent resonance,the sixth-order modal conditions of the frame and load-bearing platform were tested,and the results showed that the above-mentioned maximum stress,displacement variables,and modal conditions all meet the requirements of the robot.(2)Robot measurement and control system design.The hardware design includes the robot walking steering module,lifting module,handling module,navigation module and power conversion module.The main control of the robot is an industrial computer.Based on the Windows system,the visual interface of the upper computer software of the measurement and control system is written to control the walking and steering of the robot.STM32 single-chip microcomputer and each drive base plate are selected as the lower computer,and the control software is written based on Keil software to realize the precise control of the robot’s lifting and handling tasks.(3)Research on magnetic navigation control algorithm.In order to accurately control the movement of the robot,the kinematics modeling and analysis of the robot wheeled mobile platform are carried out;the source of the robot walking error is analyzed,and on this basis,a magnetic navigation control algorithm based on PID control is proposed.(4)Kinematics analysis and simulation research of robotic arm.According to the mechanical structure characteristics of the robot arm,the DH method is used to establish the kinematics model of the robot arm’s handling motion and calculate the forward and inverse solutions.The matrix relationship between the end effector posture and the joints of the robot arm is given and verified by MATLAB simulation.The correctness of the solved expression.(5)Robot prototype development and test verification.A physical prototype of a mobile potted plant handling robot was built and tested on the Pukou campus of Nanjing Agricultural University.Develop an experimental prototype of a mobile potted robot,and carry out experiments such as the machine’s straight-line walking,turning walking,height control of the lifting system,and robotic arm trajectory planning and grasping.The test results show that the selected motor parameters can meet the requirements of use,and the maximum deviation of linear travel is 2.1mm,the deviation of height control is less than4 mm,and the single grasping time is less than 5s,which verifies the rationality of the design scheme.In this paper,oriented to the indoor high-throughput shelf phenotype facility of Nanjing Agricultural University,the structure design,kinematics and dynamics analysis,measurement and control system design,manipulator trajectory planning of the handling robot are studied,and the structure is developed using the modular concept.The simple and universal mobile pot handling robot has important practical significance and application value for improving the automation and intelligence of indoor phenotyping facilities,and actively promotes the preparation of the frontier science center for crop phenomics research.