高垄畦沟小型农业作业机器人设计与试验.

In this paper, the design content of small agricultural robot for high ridge furrow was studied. Firstly, the overall structure design was described. Secondly, the design of key components was elaborated. Thirdly, the multi-body dynamic performance analysis was elaborated. Finally, the driving stability experiment was proposed. During this period, we designed a small-size wheeled robot. In order to demonstrate the usability and practicability of this robot, this paper mainly used RecurDyn simulation software to simulate the dynamics and kinematics of the field ridge structure that the robot might applied. Through the simulation results, it could be judged that the robot model in this design could reach the actual demand that the turning radius exceeded 0. 8 m, and it could operate on the straight line according to the field ridge structure, and the roll angle of the mobile platform would not exceed than 3 ° during this period, the upper limit of operation speed supported by the mobile platform was 1. 0 m/ s. The field test results showed that the maximum roll angle of the mobile plant protection machine was 14. 00° when the working speed was 1. 0 m/ s. [ABSTRACT FROM AUTHOR]