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三臂回轉式水稻缽苗移栽機構反求設計與試驗
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浙江省重點研發(fā)計劃項目(2021C02021)和國家自然科學基金項目(52075497)


Reverse Design and Tests of Three-arms Rotary Rice Seedling Transplanting Mechanism
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    摘要:

    針對前期正向設計得到的三移栽臂水稻缽苗移栽機構應用中存在絕對運動軌跡回程段前傾造成秧苗回帶,,以及推苗角偏小造成推苗直立度差的問題,,提出一種基于局部運動軌跡的反求設計方法完成三臂回轉式水稻缽苗移栽機構設計。首先,,分析機構絕對運動軌跡和相對運動軌跡之間關系,,結合原機構存在的問題預設局部較理想絕對運動軌跡回程段軌跡、取推苗角,,確定移栽機構局部相對運動軌跡關鍵位置點,,應用三次非均勻B樣條曲線擬合生成相對運動軌跡;然后,,建立基于相對運動軌跡的移栽機構反求設計模型,,開發(fā)了基于Matlab的反求設計輔助分析軟件,優(yōu)化獲得滿足設計目標的移栽軌跡和機構參數(shù),;最后,,對三臂回轉式水稻缽苗移栽機構進行了結構設計、虛擬仿真與樣機試驗,,結果表明:仿真軌跡,、樣機試驗軌跡與理論計算軌跡基本一致,且移栽臂推秧角較原機構增大了9.08°以上,、絕對運動軌跡回程高度大于120mm、取推苗角度差與秧箱實際安裝角誤差控制在±2°以內,,滿足水稻缽苗高直立度移栽要求,,驗證了所提出方法和三臂回轉式水稻缽苗移栽機構設計的正確性。

    Abstract:

    In view of the existing problems of the three-arm rice transplanting mechanism, such as the insufficient angle of pushing seedlings, and the partial absolute movement trajectory forward after planting, a reverse design method based on the local motion trajectory was proposed to overcome this problem. Firstly, the relationship between the absolute motion trajectory and relative motion trajectory of the mechanism was analyzed, and combined the existing problems of the original mechanism to preset the return section trajectory of the local standard absolute motion trajectory, the picking-seeding angle to reverse the local relative motion trajectory and key position points of the transplanting mechanism. The non-uniform B-spline curve was used to fit the trajectory. Secondly, a reverse design model for transplanting mechanism was established. A Matlab-based reverse analysis design software for seedling transplanting mechanism was developed to solve the parameters that met the design requirements of the mechanism. At last, the structure of three-arms rotary rice seedling transplanting mechanism was designed, and a physical prototype of the mechanism was manufactured. A virtual kinematic simulation and high-speed photographic kinematics bench test of the seedling transplanting mechanism were carried out to study the motion characteristics of the physical prototype of the mechanism. The results showed that the simulation trajectory, test trajectory and theoretical trajectory were basically the same, and the pushing-seedling angle was increased by more than 9.08°, the return height of the moving trajectory greater than 120mm, the difference between the taking-seedlings and pushing-seedlings’ angle difference and the seedling box’s installation angle was within ±2°, which met the design requirements. The correctness of the design method and design results of the mechanism were verified.

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吳國環(huán),俞高紅,周海麗,葛彥杰,葉阿康,王磊.三臂回轉式水稻缽苗移栽機構反求設計與試驗[J].農業(yè)機械學報,2022,53(7):84-91,,149. WU Guohuan, YU Gaohong, ZHOU Haili, GE Yanjie, YE Akang, WANG Lei. Reverse Design and Tests of Three-arms Rotary Rice Seedling Transplanting Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2022,53(7):84-91,,149.

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  • 收稿日期:2021-08-05
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  • 在線發(fā)布日期: 2022-07-10
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