基于双喷施系统的并联除草机器人研制与仿真分析

doi:10.13304/j.nykjdb.2023.0559

摘要/Abstract

摘要：

为解决草坪与牧草的杂草精准防控问题，研制出一种基于并联执行机构的精准喷药除草机器人，可分别满足草坪与牧草的精准除草需求。基于草坪与牧草常见杂草种类和除草剂杀草谱设计了双喷施药系统，该系统具备2个药箱，可通过三通电磁阀选择不同的除草剂；对并联机构进行运动学理论计算和ADAMS仿真分析，在MATLAB中绘制出并联机构的理论工作空间的图像，可得工作空间在X、Y、Z轴上的极值，X_max=320.9 mm、X_min=-321.3 mm、Y_max=319.5 mm、Y_min=-320.7 mm、Z_max=-175.3 mm、Z_min=-662.8 mm，包含给定工作空间。基于以上结果制造样机，并对机器人实际可达的工作空间范围进行测量。研究结果表明，基于2套药液输送系统的并联除草机器人符合设计要求，可用于除草剂精准喷施的草坪与牧草杂草防控。

关键词: 并联机构, 除草机器人, 除草剂杀草谱, 精准喷施, 运动学分析

Abstract:

In order to solve the problem of precise prevention and control of weeds in lawn and forage， a precise spraying and weeding robot based on parallel actuator was developed in this paper， which could meet the needs of precise weeding of lawn and forage， respectively. 2 liquid delivery systems were designed based on the common weed species of lawn and pasture and the herbicide spectrum. The system had 2 medicine boxes， which could select different herbicides through three-way solenoid valves. The theoretical calculation and ADAMS analysis of kinematics of the parallel mechanism were carried out. The image of the theoretical workspace of the parallel mechanism was drawn in MATLAB. The extreme values of the workspace on the XYZ axis were X_max=320.9 mm， X_min=-321.3 mm， Y_max=319.5 mm， Y_min=-320.7 mm， Z_max=-175.3 mm， Z_min=-662.8 mm， including the given workspace. Based on the above results， an experimental prototype was manufactured， and the actual working space range of the robot was measured. The research results showed that the parallel weeding robot based on 2 sets of liquid delivery systems met the requirements and could be used for the prevention and control of lawn and forage weeds with precise spraying of herbicides.

Key words: parallel mechanism, weeding robot, herbicide insecticidal spectrum, precise spraying, kinematics analysis

中图分类号:

S224.3

李鑫, 聂宇成, 杨婕, 金小俊, 陈勇, 于佳琳. 基于双喷施系统的并联除草机器人研制与仿真分析[J]. 中国农业科技导报, 2025, 27(2): 108-115.

Xin LI, Yucheng NIE, Jie YANG, Xiaojun JIN, Yong CHEN, Jialin YU. Development and Simulation Analysis of Parallel Weeding Robot Based on a Double Spraying System[J]. Journal of Agricultural Science and Technology, 2025, 27(2): 108-115.

图/表 12

图1 精准施药

Fig. 1 Precision applying pesticide

图2 药液输送系统

Fig. 2 Liquid herbicide delivery system

表1 并联机构尺寸参数

Table 1 Dimension parameters of parallel mechanism

参数

Parameter

尺寸

Dimension/mm

静平台外接圆半径

Radius of circumcircle of static platform

215

动平台外接圆半径

The circumcircle radius of moving platform

驱动臂长度

Drive arm length

285

执行臂长度

Executing arm length

320

图3 除草机器人整体结构注：1—三通电动阀；2—泵；3—药箱；4—摄像头；5—从动轮；6—执行机构；7—喷头与电磁阀；8—驱动轮；9—驱动电机；10—移动平台；11—控制装置。

Fig. 3 Overall structure of the weeding robotNote： 1—Three-way electric valve； 2—Pump； 3—Pesticide box； 4—Camera； 5—Slave wheel； 6—Actuator； 7—Nozzle and solenoid valve； 8—Drive wheel； 9—Drive motor； 10—Mobile platform； 11—Control device.

图4 支链受力分析

Fig. 4 Force analysis of the branch chain

图5 并联机构结构

Fig. 5 Structure of parallel mechanism

图6 动平台位移曲线

Fig. 6 Displacement curve of the moving platform

图7 驱动臂运动状态仿真分析A：驱动臂角速度曲线；B：驱动臂角加速度曲线

Fig. 7 Simulation analysis of the motion state of the driving armA： Angular velocity curve of the driving arm； B： Angular acceleration curve of the driving arm

图8 驱动臂力学仿真分析A：驱动臂旋转关节受力曲线；B：驱动臂旋转关节力矩曲线

Fig. 8 Mechanical simulation analysis of driving armA：Force curve of the driving arm rotation joint； B：Force curve of driving arm rotation joint

图9 除草机器人工作空间

Fig. 9 Workspace of the weeding robot

图10 XOZ平面机器人工作空间

Fig. 10 Robot workspace on the XOZ plane

表2 动平台测量半径及均值

Table 2 Measuring radius and mean value of moving platform

测量高度

Measured altitude/mm

第1次测量

First measurement/mm

第2次测量

Second measurement/mm

第3次测量

Third measurement/mm

均值

Mean value/mm

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