Optimal design of end-effector on automatic plug seedling transplanter

被引：6
|
作者：
Jiang Z.-H. [1 ]
Jiang H.-Y. [1 ,2 ]
Tong J.-H. [3 ]
机构：
[1] College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou
[2] Key Laboratory of Equipment and Informatization in Environment Controlled Agriculture, Ministry of Agriculture, Hangzhou
[3] Faculty of Mechanical Engineering and Automation, Zhejiang Sci-Tech University, Hangzhou
来源：
Jiang, Huan-Yu (hyjiang@zju.edu.cn) | 1600年 / Zhejiang University卷 / 51期
关键词：
3D model; Automatic transplanter; End-effector; Human-computer interaction; Kinematic simulation; Optimal design; Plug seedling;
D O I：
10.3785/j.issn.1008-973X.2017.06.009
中图分类号：
学科分类号：
摘要：
A slide-clamp end-effector with only one drive cylinder was designed by combining the advantages of slide form and clamp form. This end-effector could penetrate into the nutritional substrate and clamp the seedling plug just by one push of the cylinder. The needles' insertion depth and penetration angle of the end-effector is adjustable. A visualization program was designed using Visual Basic. The structure parameters were optimized in the program according to the motion trail of needle cusp. The 3D model was developed and taken kinematic simulation in ADAMS2012 to verify the parameters of the structure size by comparing the trails of needle cusp. A full-test with three factors (the proportion of ingredients, the moisture content, and the mass of substrate) and three levels was conducted to verify the efficiency of end-effector under different seedling medium conditions. As results, for the total 270 plug seedlings, the designed end-effector has a 100% transplanting success rate and the seedling plug average damage rate is 17%. Under eight combinations of the full-test, there is no harmed root plug. Using this end-effector, the transplanting success rate is greatly increased and the root plug damage rate is reduced without increasing time consumption (averagely 2.8 s per seedling). © 2017, Zhejiang University Press. All right reserved.
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页码：1119 / 1125
页数：6
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