| In this paper,a self-propelled mobile platform is designed for greenhouse,access to domestic and foreign research literature on agricultural robots,reference design of agricultural robots mobile platform structure;collection of sowing agricultural robots,irrigation of agricultural robots and picking robots And other agencies equipped with parts and features.According to the references of each module equipped seat and mode,as well as the structure of agricultural robot platform for greenhouse structural characteristics of the mobile platform overall mechanical design program,so that after the determination of the walking mechanism,the steering mechanism and the body structure of the initial program.According to the size of the hub motor and mobile platform's length and breadth,the walking mechanism be designed.The running gear is mainly composed of hub motor,connecting piece and steering shaft.3D models are set up in Solidworks 2014 respectively,and the finite element analysis is carried out so that the structure of each part is reasonable,the materials used are correct,the strength is ensured meanwhile reaching the lightweight goal.Determine the steering trapezoidal program.According to the trapezoidal scheme,the relationship between the various influencing factors in the steering mechanism is analyzed,and the mathematical model of the steering mechanism is established through establishing the equations.In MATLAB,the relationship between the left steering angle and the right steering angle of the steering mechanism under the initial size is analyzed and compared with the target curve.In order to approximate the actual curve to the target curve,the constrained variable scale algorithm is used to optimize the various factors of the steering mechanism with the aim of minimizing the deviation of the two curves,and the steering mechanism is improved.The piston rod modal analysis is to research whether the part of the stress resonance will occurs.Finally,the modal analysis results are output in ANSYS,the results are imported into ADAMS to analyze the dynamics of the piston rod,the force curve of the piston rod during steering is output and compared with the results of dynamic analysis.A comprehensive analysis of the piston rod.Finally,the steering mechanism is analyzed in detail,the left and right steering angle curves of the model are output in ADAMS,and the relation curves between ADAMS and MATLAB are contrasted.The correctness of the optimization is confirmed and the steering direction is also obtained Happening.Then,the situation and the stability of the mobile platform running on the uneven road surface are analyzed.Finally,the climbing performance of the mobile platform is analyzed.It is of great significance to develop a mobile platform for automatic laboring in a greenhouse.It can significantly improve labor productivity and release peasants from hard work.The mobile platform will not be driven by electricity and will not give greenhouse environmental zones To pollution. |
PDF Full Text Request