The Research Of Robot Design Theory And Practical Technique For Excavating Stump

This thesis carefully researches the design theory and practical technique of use robotic technique to excavate tree stumps on the felled land. Systemically and deeply introduces structure design theory and calculating theory of new type intelligent robot system for excavating tree stumps, which is the first one manufactured in China.On the basis of studying the design theory of typical internal and external mechanisms for tree stump excavating, combining with' the characteristics of robots for tree stump excavating. This paper put forwards the systemic structure design principle and comprehensive mechanism shape principle, and manufactured a six DOF tree stump excavating robot, which is controlled by chip computer, runs easily on felled forest land, has multi-operational functions, such as: cutting, rotating, lifting and collecting tree stumps.According to lots of investigation on the earth and stumps of Daxinganling Mountains, this paper concludes the distribution rules of earth, diameter of stumps, range of stumps and depth of stumps on Daxinganling Mountains. In accordance with the living environments, physical and chemical characters of working object-stumps, this paper refers the cutting theory of robot for tree stump excavating.According to the requirements of structure and control of the robot, this paper analyzes the kinematics, dynamics of the robot and velocity of the manipulator, deduces the kinematics equation of the robot for tree stump excavating, gives the Jacobian matrix and experience equation of the effective velocity of the end effector. And sets the simply kinematics model of the robot' s manipulator. These provide theoretical foundation of determining the end effector' s space position, structure and driving control of the robot.This thesis introduces the design idea and principle of hydraulic system of the robot. By using electric-hydraulic proportional governing valve to ensure the mechanic arm shifting steadily so as to enhance the working reliability of the robot and adopting the confluence technique to enhance working efficiency of the robot.This thesis also analyzes the stability and tests the relevant parameters of the robot, determines the robot' s working space, by stability calculating, it can conclude that the maximum working slope degree is 13° on mountain areas and prove the correctness of the selecting of affiliate weight according to the optimal balance index. After testing the 14 indexes of the technical parameters, it can also know that the robot for tree stump excavating has strong penetration capacity on felled land, easily adopts to the working environments, works safely and has good clean effect.