Stability Analysis Of Axisymmetric Fruit Directional Transmission

Uniaxial symmetry directing fruit is an important part of the fruit processing industry, whether partial cut fruit fast, fast processing, fast to the core, etc., or the detection of fruit tree, both require fast directing. Uniaxial symmetry fruit directional delivery device including: a drive belt, plus two support bands, spring holder tab, split the main part of the tool, chassis and other components. Its working principle is: the belt provide forward friction, with the blessing of the orientation needed to provide additional torque, holding piece auxiliary blessing with Regulation apricot oriented area. Throughout the orientation, apricot fruit relying on its own unique physical properties to achieve orientation.At present, domestic and foreign research fruits uniaxial symmetry directing, mainly concentrated in the targeted delivery mechanism, the theory is mainly in the aerospace, vehicle engineering, mostly related to higher dynamics, stability, posture control theory basis.Based on the research questions directed uniaxial symmetry fruits in directing the process, rigid body dynamics, based on the establishment of a uniaxial symmetry fruits dynamic model of directing the process, the use of mathematical tools for dynamic model is solved by means of quaternion, complex non-linear motion into linear motion, kinetic models of three different studies:(1) dynamic model of gravity apricot fruit delivery, the main research in the absence of external interference Control Moment uniaxial symmetry fruits only by gravity to rotate around its own problems;(2) the control dynamics model apricot fruit delivered under torque role in(1), based on the combination of apricot movement in directing the course of the case design plus a torque control system, so that in the limited time to achieve targeted issues;(3) study the process of directing Apricot centroid trajectory, describing the uniaxial symmetry fruits in directing the course of the centroid of the track, track apricot directional trajectory moment; angular velocity simulation application Matlab stable state, the torque curve, with a plan view and an image centroid track; then the orthogonal experiment to verify the theoretical analysis; orthogonal experiment multifactor how many ping test, were taken entrance width, the belt speed, the entry angle, blessing angled, holding piece plus moment, apricot fruit size apricot initial status and other factors are controlled, the same time with high-speed camera to shoot alignment state, to determine the orientation of the region. The results showed that:(1) entry width, the belt speed, belt clamping angle orientation of apricot greater impact; external control torque(2) is the main reason for holding pieces of apricot fruit orientation;(3) Apricot If the initial state time have an impact on its orientation. By orthogonal experiment, the optimal combination of targeted delivery process, also found that, in the apricot stable directing state, the clamp band and the belt will have a resonance phenomenon, which is generated during the nonlinear system stability resonance, and some guidance on post-study.