高速拾放操作类机械手机构设计方法及钵苗移栽应用研究

High speed pick-and-place manipulators has been more and more applied in agricultural production. Especially the requirements applied in transplanting task is urgent and extensively. However, it is a challenge for the innovative design of the seedlings pick-and-place manipulator. Because it should be required for the customized, lower cost and the diversity of transplanting agronomic. According to the requirements of pick-and-place operation for seedling transplanting, the mathematic description of the pick-and-place operation’s pose and trajectory will be studied. The evolution rule, from the open-chain mechanism with multi-DOF (Degree of Freedom) to closed-chain mechanism with lower-DOF, and the mapping relations between trajectory, transfer function and structure will be researched in this project. To establish the constraint functions of the special manipulator, complete the structural analysis of mechanism for the pick-and-place operation manipulator, and draw out the mechanism atlas satisfied the pick-and-place operation manipulator. Innovative mechanism design method will be studied which is an integration of functional requirements, structure synthesis and performance evaluation. And the digital rapid design platform will be set up. Vegetable transplanting manipulator with clamping and planting integration function could be developed which is adapt to the requirements of vegetable seedlings automatic transplanter. The project will provide the theoretical basis and method supports for the rapid researching of diversified transplanting equipment.

高速拾放操作类机械手已越来越多的应用于农业生产中，特别是在移栽作业中有更为迫切和广泛的应用需求，但移栽农艺的多样性对个性化、专用低成本、高速拾放移栽机械手的创新设计提出了挑战。本项目针对钵苗移栽拾放操作功能要求，开展拾放动作姿态和轨迹的数学描述研究，探究多自由度开链机构演化特定少自由度闭链机构的规律，研究轨迹、传递函数和构型之间的映射关系；建立少自由度特定机械手移栽拾放动作的功能约束条件，实现基于原始拓扑图的移栽拾放操作机构构型综合，绘制出拾放操作类机械手的机构图谱；构建集功能要求、构型综合和性能评价于一体的拾放操作机械手机构创新设计方法和数字化快速设计平台，面向全自动钵苗移栽机需求研制出能实现夹钵取栽一体化作业的性能优异的移栽机械手。本项目的研究成果将为多样化的移栽装备快速研制提供理论基础和方法支持。

高速拾放操作类机械手已越来越多的应用于农业生产中，特别是在移栽作业中有更为迫切和广泛的应用需求，但移栽农艺的多样性对个性化、专用低成本、高速拾放移栽机械手的创新设计提出了挑战。本项目针对钵苗移栽拾放操作功能要求，开展了拾放动作姿态和轨迹的数学描述研究，探究了多自由度开链机构演化特定少自由度闭链机构的规律，研究了轨迹、传递函数和构型之间的映射关系；建立了少自由度特定机械手移栽拾放动作的功能约束条件，实现了基于原始拓扑图的移栽拾放操作机构构型综合，绘制了出拾放操作类机械手的机构图谱；构建了集功能要求、构型综合和性能评价于一体的拾放操作机械手机构创新设计方法和数字化设计平台，面向全自动钵苗移栽机需求研制了出能实现夹钵取栽一体化作业的性能优异的移栽机械手。本项目的研究成果为多样化的移栽装备快速研制提供了理论基础和方法支持。