The Structural Design And Simulation Of The Quadruped Weeding Robot Based On Virtual Prototyping Technology

At present, chemical weeding as one of the main weed control methods, although has acheived significant achievements, but due to the widespread use of herbicides, also bring many problems to us. First of all, the use of a large number of herbicides, resulting in resistance weed. Secondly, the use of herbicides may also lead to environmental pollution. Aiming at these problems, put forward the way of weeding weeding robot. Researching of weeding robot at home and abroad, most of them are wheeled and tracked weeding robot. Wheeled robot has great advantages in speed, stability and easy to control and so on, but the shortcoming is must move in smooth, continuous ground environment. Tracked weeding robot can walk in complex ground, but the speed and maneuverability is not very ideal. While the quadruped robot has the advantages of wheeled and tracked weeding robot, not only in the rugged ground to walk, but also can overcome obstacles, flexibility and ability to adapt to the environment is very good, so it has the very high research value.In this paper, according to the rules of quadruped robot in non crop land is the advantage of mechanical weeding, using the virtual prototype technology is designed the quadruped robot structure to meet the requirements of weed control, and then carrying out simulation. the main research contents and results are as follows:1.This paper summarizes the research progress of the weeding robot at home and abroad; introduces the present situation of agricultural robots and weeding robot at home and abroad; also the research progress of quadruped weeding robot is presented in the paper.2.The structure design of the quadruped weeding robot:Use Soildworks 3D software to design a quadruped robot walking on the grass. According to the situation of the field, design well after each part into the assembly link, all the parts to the quadruped weeding robot to complete assembly.3.The kinematics and dynamics analysis of the quadruped weeding robot:Analyzed the kinematics and dynamics of the robot, the robot kinematics, inverse kinematic equation and Jacobi matrix are derived, And derived the simplified structure of the multi-rigid-body system dynamics equations of the second kind of Lagrange. The provides a theoretical basis for the following simulation analysis based on virtual prototype.4.The ADAMS simulation for the quadruped weeding robot:In ADAMS, the need to import the simplified edit every parts and components in the quadruped weeding robot, make the virtual prototype and physical prototype that have the same or similar physical properties, thus better for actual simulation. Define each parts of color, material, quality, the initial position and related properties.5.On quadruped weeding robot using ADAMS combined with Matlab simulation:mechanical model of ADAMS is responsible for the required to complete the joint simulation system, Matlab/Simulink control is used to establish the joint parts of the simulation system. Between the two through ADAMS/Controls to connect, finally using Matlab/Simulink control output back to the mechanical model driven ADAMS, complete the simulation.6.Analysis according to kinematics analysis and dynamics analysis of quadruped weeding robot obtained data as well as the ADAMS and Matlab data, the development of the final physical prototype.Through the quadruped weeding robot’s motion process simulation in ADAMS, we can directly observe the actual pose, simulation process and simulation through figure also clearly reflect the change of the quadruped weeding robot motion curve, so as to provide data basis for real time control in the future. Combining Matlab complex control is added to the quadruped weeding robot prototype model, and then to the quadruped weeding robot joint simulation system.