Authors

Abstract

The development of mechanization has greatly liberated the labour force, promoted socialized mass production, and created infinite social wealth. Its influence is significant and far-reaching, and agricultural production has undergone revolutionary changes. Aiming at the problems of poor working environment, high labour intensity and low working efficiency of manual pruning, a mechanical arm of branch pruning machine was designed, which realized the three-dimensional layered cylindrical pruning of individual tree. In this paper, a five-degree-of-freedom trimmer manipulator is designed, which is mainly composed of base, big arm, small arm, wrist and finger blade. The motion equation of the mechanism is established by using the Denavit–Hartenberg parameter (D-H parameter) method, and the corresponding motion curve is fitted by using MATLAB software. The components of the trimmer arm are designed virtually by using 3D modeling software, and assembled into a complete trimmer arm. The assembly drawing is imported into the simulation analysis software ADAMS for kinematics simulation. The results show that the speed-time pattern has obvious positive and negative changes at 3s, which proves that this stage is the hand cutting stage of jujube pruning; The acceleration time graph is gentle in the whole movement, and the curve approaches to a straight line, which proves that the movement of the mechanical arm of the jujube pruning machine is stable in the pruning process. Through the analysis of the simulation curve, it provides a theoretical basis for the research of the mechanical arm of the trimmer.

Abstract in Chinese

机械化的发展极大地解放了劳动力, 促进了社会化大生产, 创造了无限的社会财富。其影响重大而深远, 农业生产发生了革命性的变化。针对人工修剪存在的工作环境差、劳动强度大、工作效率低等问题, 设计了一种树枝修剪机机械臂, 实现了单株树木的三维分层圆柱形修剪。本文设计了一种五自由度切边机械手, 主要由底座、大臂、小臂、手腕和指叶组成。采用D-H参数法建立了机构的运动方程, 并用MATLAB软件拟合了相应的运动曲线。利用三维建模软件对切刀臂的各部件进行虚拟设计, 组装成一个完整的切刀臂。将装配图导入仿真分析软件ADAMS进行运动学仿真。通过对仿真曲线的分析, 为切边机机械臂的研究提供了理论依据。