棉花打顶机器人高地隙移动平台机构优化设计

棉花是我国主要的经济作物之一,及时有效的对棉苗打顶可以去除其顶端优势,增加棉铃的数量,对棉花增产具有至关重要的作用。智能棉花打顶是实现棉花种植实现机械化和智能化的关键环节。针对棉苗生长特点及作物种植环境,对智能棉花打顶机器人移动平台结构进行优化设计。研究了棉花打顶机的运载底盘离地间隙和轮胎间距的调节机构,以适应棉株的不同种植情况。从而设计一种移动平台来实现棉花打顶机器人作业空间优化,利用运动学仿真对平台进行了稳定性分析,并对底盘主要受力的支座进行有限元分析,验证了设计的合理性及可靠性。

Optimal Design of High Ground Clearance Mobile Platform Mechanism of Cotton Topping Robot

Cotton is one of the main economic crops in China.Removing the apical dominance could increase the number of cotton bolls,which plays a vital role in increasing cotton yield.Intelligent cotton top-cutting is the key to realize mechanization and intelligence of cotton planting.According to the characteristics of cotton seedling growth and crop planting environment,the structure of intelligent cotton topping robot mobile platform was optimized.In order to adapt to the different planting conditions of cotton,the adjustment mechanism of the carrier chassis ground clearance and tire spacing of the cotton topping machine was studied.A mobile platform was designed to optimize the working space of the cotton topping robot.The stability of the platform was analyzed by kinematics simulation,and the main bearing of the chassis was analyzed by fi nite element method.The rationality and reliability of the design were verifi ed.