Design Modeling And Analysis Of The Mechanic Hand Of Salix Twig

A bottleneck in the development of Salix that tends machinery is the problem of twisting the branches before tending.On account of the non closure of the branches in the presence of tending,the branches are driven away and disordered after the tending,and the subsequent bundling labor intensity is large,the efficiency is low and the cost is high-pitched.It therefore is efficacious to solve the headache of Salix that tends,which is the first solution to the branch of the willow branch,which is convenient for the bundling and subsequent cutting.Based on Salix's growth and the working environment of the manipulator,this paper designs the willow twig manipulator a brand new design.Three modules are included by the research,including modeling,analysis and design,and the design and modeling.First,the manipulator's design is designed and the selection's three-dimensional modeling and design of the willow twig manipulator is completed.Through the theoretical means,the reverse and forward learning problems of the willow twig manipulator's motion are analyzed.The components' force situation is calculated by the theoretical determination,the modal analysis and the static analysis are followed through based on ANSYS.Finally,the three-dimensional model is introduced into the ADAMS software to simulate the motion simulation of the willow twig manipulator.The results of the study are as follows:(1)By using D-H's mechanism to analyze the kinematics forward kinematics of the willow twig manipulator,the reputation and stance of the end actuator are accessed.The inverse dilemma is analyzed by the geometric method,and each joint's point of views are obtained,and the theoretical basis is provided the willow twig manipulator's purpose with.(2)The static stress analysis shows that the stiffness and strength of the Salix's mechanic hand are all satisfied with the design prerequisites.Each component's vibration frequency values are obtained by the three order modal analysis.The manipulator's natural frequency is avoidable in the manufactureand future design,and the resonance in the work is prevented and the Salix that tends is ensured.The stability of the machine operation;(3)Motion simulation: the modeling map is guided into the ADAMS application for simulation,and the simulation consequence curve demonstrates that the sand willow twig manipulator has gotten through the potential fluctuation,which demonstrates that the intention is sensible and executable.