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111221.1000832.210014、。XY。XX。X、Y、Z333。TMS320F2812“S”。。358183%。SS225.95A1003-188X201502-0101-060。、、1-2。3-4。56-13。11。SolidWorks2。2014-02-27“”2011BAD20B07-31991-E-mailluciencau@126.com。1969-E-mailxlmoffice@126.com。1Fig.1Robotsworkingmodel1.Z2.Y3.X14.X25.X26.X17.Y8.Z2Fig.2Three-dimensionalmodeloftherobot·101·201522DOI:10.13427/j.cnki.njyi.2015.02.025XYXX。X、Y、Z333。X1000mmY650mmZ200mmZ。。22.12.1.1TITMS320F2812。32DSP、150MHz150MIPS6.67ns128k×16FLASH18k×16SRAM。QQ28127。2.1.2X、Y、Z3。128。1.8°1281.8/1280.014°。64、PID。、8-10。。。341。3Fig.3Steppermotor4Fig.4Drivers1Table1Motormodel/N·mX2302HS30A1R551821.8°1.9Y2302HS30A1R5421.8°3Z1704HS20A1101421.8°0.53。。5。3GND、VCC。PWMPWM·201·201522。DSPPWM。5Fig.5Servo2.22.2.1TMS320F2812TICCS3.3CodeComposerStudio。C6。6Fig.6ProgramflowDSP1DSP2DSP2X、YZ。2.2.2。。。、。S9-11。1。。TMS320F2812EVAEVB。TxPWMTxPWMTxCMPRTxCNT。TxPWMTxPWMTxPRTxPR。CPUCPU。2S。。。S。S7。70~t2。0~t1t1~t20t2~t3t3~t50~t2。0~t1t1~t2、。t1~t2T=Jd2θdt2+Tf。TTfJ。6t1~t2Jd2θdt2·301·2015226dfdt=-Af+BA、B。SFS=BS-AFSFS=BS+AS。ft=BA1-e-Atft=C1-e-t/n。Cn12。Z。7S、、Fig.7S-curvevelocityaccelerationjerkZ4000Hz10500HzS100Hz。T=0.05st3=0.5T=0.025sn=0.0228sti△t。2。2Table2Theresultsitis△tii-1fi10.01470.014750001020.01930.004660002730.02500.005770004040.03270.007780006150.04440.0117900010560.06940.025010000250。CPUNnNnN03N0/2Nn<N0。38。Z。3。8Fig.8Laboratoryexperiments3Table3ExperimentalDatacm123456X20.020.040.039.880.079.790.089.730.030.010.010.0Y20.020.040.040.060.060.015.014.950.049.810.010.0Z10.010.015.015.013.013.08.08.017.016.814.013.9·401·20152220139。33581195783%90%9。9Fig.9OutdoorexperimentsS。S。41。。XY。2TMS320F2812DSP。。3“S”。43581195783%90%。。1.2011J.201244-8.2.J.20106469.3.J.200319120-24.4.、J.20102761-4.5.D.2013.6.J.200527190-96.7.DSP2812D.2010.8.DSPJ.2005185110-112.9.DSPJ.2010863-66.10.DSPD.2004.11.DSPD.2006.12.J.2006285457-462.13.J.2000129-30.TheImproveDesignofTeaPickingRobotWithTwoArmsLuXin1LiHeng1XuLiming1QinGuangming2ZhaoYing21.CollegeofEngineeringChinaAgriculturalUniversityBeijing100083China2.NanjingResearchInstituteforAg-riculturalMechanizationMinistryofAgricultureNanjing210014ChinaAbstractBasedonthecurrenthighcostbutlowoperatingefficiencyteapickinggantryrobotthispaperdesignsanewteapickingrobotwithtwoarms.EacharmstructureusingCartesiancoordinatesofwhichX-axishastwoarms·501·201522andoperationstoavoidthedistortionduetotheY-axiscantilevervibrationsgeneratedlong.XdirectionofthetwoslideconnectedtothecouplingtoensuresynchronousoperationoftwoX-axisthethreedirectionsaredrivenbythreesteppermotorbeltdrivewaytoachievefreedomofmovementinthreedirectionsitusesTMS320F2812asitscontrolchipwiththedesignofS-curveaccelerationanddecelerationtherobotcanachievethefastestspeedtomeettheaccuracyrequirements.Switchtoopen-loopcontrolsystemmanipulatorarmssymmetricallyarrangedsimultaneousoperations.Laboratoryandoutdoorexperimentresultsshowthattheaveragehourlypicking3581timesmoreefficientthantheorigi-nalrobotimprovedby83%andpickingaccuracytomeettherequirementsoftheproductionoperations.KeywordsteapickingrobotwithtwoarmssteppingmotorScurve1003AmaralNRencisJJRongYM.DevelopmentofafiniteelementanalysistoolforfixturedesignintegrityverificationandoptimizationJ.TheInternationalJournalofAdvancedManufacturingTechnology2005255409-419.4ShenGJYangSM.DynamicanalysisofaspinningRay-leighbeamJ.InternationalJournalofMechanicalSciences200547157-169.5Arboleda-MonsalveLGZapata-MedinaDGAristizabal-OchoaJD.StabilityandnaturalfrequenciesofweakenedTimoshenkobean-columnwithgeneralizedendconditionsunderconstantaxialloadJ.JournalofSoundandVirbra-tion200730789-112.6LoyaJARubioLFernandczSaczJ.NaturalfrequenciesforbendingvibrationofTimoshenkocrackedbeamsJ.JournalofSoundandVirbration2006290640-653.7.D.2007.8.3DD.2006.9.ANSYSJ.200523181-84.10IshidaTakeshiWangHongyou.BendingstressandtoothcontactstressofcycloidgearwiththinrimsJ.JSME201057291-297.AbstractID1003-188X201502-0098-EAModeAnalysisandOptimizationofVariablePitchScrewShaftforHigh-speedRiceTransplanterZhuDequan1ChenQiwei1YaoYafang1SongYu1XiongWei1ZhangJianmei21.SchoolofEngineeringAnhuiAgriculturalUniversityHefei230036China2.GeneralStationofAgriculturalMechanizationTechniqueExtensionofAnhuiProvinceHefei230031ChinaAbstractForhighworkingspeedfastspeedofhigh-speedtransplanteritsrotationspeedincreaseonetimethanthatofthecrankandconnectingrodtypetransplanteritsscrewshaftinrotationateachendofthetrackhasthesignificantimpactingloads.Fortheadjustablelinespacinghigh-speedricetransplanteravariablepitchscrewshaftwasdesignedtomeettheneedsoftransversesentseedlingsunderdifferentspacing.TheFEAmodelofscrewshaftwasestablishedtoanalyzetheitsmodebyusingANSYSsoftware.Finallytheaccuracyandpracticalityweretestifiedanditsoptimizationwasexecuted.Theresultsindicatethattheperformanceofoptimizedvariableleadboxbodycanmeettheneedsofactualwork.Keywordshigh-speedricetransplantermovingboxmechanismscrewshaftvariable-pitchmodeanalysis·601·201522
本文标题:双臂式茶叶采摘机器人的改进设计
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