Kinematic Analysis And Simulation Of Spray Robot In Facilities Agriculture

With the development of agricultural engineering, more and more types ofagricultural robots are designed and used for farming. One of them is sprayingmachinery, which is widely used in China, as a world widely known agriculturalproducing and exporting country, Agriculture in our country has developed rapidly inrecent years. Because of the characteristics of agricultural facilities, in facilityagriculture intelligent agricultural machinery miniaturization has a broad applicationprospect. Hence, it is very urgent and necessary to study further about sprayingmachinery and related technologies.After reading a variety of references and having a broad understanding ofthe development of robot technology at home and abroad, There is a deep research onthe whole mechanism of robot. the writer is trying to design a series of roboticspraying machine. research the overall design scheme of the robot, analyze thekinematics analysis and the working space of the robot, the simulation analysis of thevirtual prototype design and kinematics analysis. Paves the way for subsequentresearch on the subject of three degree of freedom robot. So the research of thisthesis has practical significance and broad application prospect. In order to meetthe requirements of robot operation, this paper studied the key technologies.First, according to the design requirements of the material, transmission, driveway choice, taluminum alloy6061as producing material, harmonic drive as structureand servo motor drive as way are selected respectively. Second, multiple designalternatives are provided for the overall structure design. After considerate analysisand comparison, the optimal one is decided and the3D designing pictures are drawnby Auto CAD and Pro/Engineer software. Afterwards, various types of sprayapparatus are tested to select an optimal one. By using DH method to establish ahomogeneous transformation matrix for kinematic analysis, the state of motion of therobot is transferred into a form of a matrix that deduced from robot with three degreeof freedom kinematics equation. With differential method, Jacobian matrix is deduced.Third, the working space of the spraying robot is analyzed and solved by combiningMonte Carlo method and Matlab programming. After analyzing the shaft angle range,three groups of rational shaft angle are selected, with the help of Matlab Programming, three corresponding groups of working space are obtained. Accordingto the working place, a set of of optimum rotational angular is decided as the range ofthe joints. Finally, the spraying robot’s overall structure is emulated by softwareADAMS. Generally speaking, simplified model drawn by Pro/Engineer is importedinto ADAMS, which is simulated forwardly and reversely. Afterwards, thesimulation results are analyzed to prove the feasibility of the design.