Study Of The Mechanism Of Local Grain Handling Robot Based On Discrete Element Method

The large granary is an important guarantee for the national food security.In the large granary,local abnormal grain condition is not handling timely and effectively,which is the reasons for a large area of grain deterioration and a large number of stored grain losses.The local abnormal grain handling technology is an effective means to realize the timely and effectively treatment local abnormal grain.The local abnormal grain condition of granary is similar to the human lesion.So the process of local abnormal handling is similar to the treatment of human lesion.By learning from the way of surgical operation,it is efficient,fast and economical to achieve the moldy and metamorphosed food in situ targeted clearance.In view of the poor fluidity of grain and the large resistance of robot space movement,the mechanism of the abnormal grain in-situ and targeted debridement robot was studied.The research contents include that: the stress analysis of the granary environment based on the discrete element method;the snake robot mechanism design of local grain condition handling;based on the joint control function,the local grain condition handling robot gait was planned and the resistance model was established;the kinematics simulation of local grain condition handling robot in bulk grain.First,according to the understanding of the development of local grain handler,based on the discrete element method,the complex mechanical properties of the barn were analyzed from the microscopic point of view.According to the structural characteristics of the force chain,the formation mechanism of the resistance of the robot was analyzed.The influence of the diameter,the velocity and the insertion depth of the probe rod on the traveling resistance was simulated and analyzed by using the discrete element software EDEM,and the experimental data were fitted to obtain the probe traveling resistance by MATLAB.Second,through the analysis of the snakes body structure and movement mode,based on the principle of bionics and the modular design method,the integrated design scheme and control method of the snake robot of local grain condition handling was determined.By SolidWorks,the mechanism of snake robot of local grain condition handling was designed,and 3D modeling was built.According the design scheme,the kinematics model of the robot in the D-H coordinate system was established,and the kinematics analysis was carried out.Finally,according to Serpenoid's snake curve,the joint control function of snake robot was carried out to realize the controlling of the snake robot gait,and the resistance model of snake robot in grain environment was biult.In ADAMS,the equivalent virtual prototype model of the snake robot was established.Through the movement simulation,the influence of each control parameters on the motion waveform and speed of snake robot was analysed.