基于D-H变换矩阵的宽窄行分插机构运动特性分析与设计

为满足水稻插秧机宽窄行插秧的需要,以高速插秧机的行星系分插机构为研究基础,根据宽窄行空间插秧轨迹的要求,提出了一种斜齿椭圆齿轮交错啮合传动的行星轮系分插机构。确定了分插机构空间插秧轨迹的关键参数,利用D-H变换矩阵建立了机构的轨迹模型,分析了关键参数对插秧轨迹的影响,并进行了机构的运动特性研究。利用编写的机构优化程序,通过人机交互的方式优化出一组满足空间插秧要求的机构参数,并根据参数完成了机构的设计。最后,通过虚拟仿真验证斜齿椭圆齿轮交错啮合传动的分插机构可以满足水稻宽窄行插秧的要求。

Design and kinematics analysis of wide-narrow distance transplanting mechanism based on D-H transformation matrix

According to the need of spatial planting trajectory, a new kind of transplanting mechanism with helical elliptical gear trains was put forward based on the traditional transplanting mechanism with planetary gear trains which was used widely in high-speed transplanter. After analyzing the mechanism structure, the key parameters used to determine the planting trajectory were solved as well as the kinematic model of the mechanism based on D-H transformation matrix. The kinematic characteristics such as the side offsets of trajectory and the velocity of seedling needle were studied by the program developed on the basis of the theoretical model, and a set of optimal parameters was obtained by the method of human-computer conversation. Finally, virtual prototype test was carried out after finishing the structural design, the results of which showed that the new transplanting mechanism met the working requirements of wide-narrow distance rice transplanter.