枣树修剪机机械臂的设计与运动学分析

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.