Kinematics solution and trajectory planning of stepping transverse slotting mechanism

SUI Ting-ting; LIU Jin-hao; TANG Wei-guo

doi:10.13332/j.1000-1522.20170213

Journal of Beijing Forestry University > 2017 > 39(10): 109-116. > DOI: 10.13332/j.1000-1522.20170213

SUI Ting-ting, LIU Jin-hao, TANG Wei-guo. Kinematics solution and trajectory planning of stepping transverse slotting mechanism[J]. Journal of Beijing Forestry University, 2017, 39(10): 109-116. DOI: 10.13332/j.1000-1522.20170213

Citation:

PDF (1503 KB)

Kinematics solution and trajectory planning of stepping transverse slotting mechanism

School of Technology, Beijing Forestry University, Beijing, 100083, P. R. China

More Information

Received Date: June 14, 2017
Revised Date: August 08, 2017
Published Date: September 30, 2017

Graphical Abstract

Abstract

Abstract

A multi rod stepping parallel slotting mechanism is proposed according to the principle of mechanism. The continuous change curve of the point marked on slotting mechanism during the straw inserting process was obtained by the Matlab software according to the kinematic model, and the fsolve function was used to plan the trajectory of marked point. A 3D modeling of stepping slotting mechanism was conducted by Creo2.0 and was simulated dynamically based on ADAMS for machine operation with longitudinal width of 900, 1 000 and 1 100 mm. The working performance of the mechanism was analyzed by the motion path of the mark point P. Its efficiency, accuracy and flexible operation can meet the requirement of paving straw check.
- transverse slotting tool,
- kinematics,
- trajectory planning,
- ADAMS simulation

FullText(HTML)

References (14)

References

[1]	李跃娟.草方格铺设机器人横向气动插草机构动力学仿真分析[D].哈尔滨: 东北林业大学, 2005. http://cdmd.cnki.com.cn/Article/CDMD-10225-2005136692.htm LI Y J. Dynamic simulation of pneumatic transverse paving mechanism in paving straw robot[D].Harbin: Northeast Forestry University, 2005. http://cdmd.cnki.com.cn/Article/CDMD-10225-2005136692.htm
[2]	刘晋浩, 李跃娟, 齐巍.横向插草机构回位装置的优化设计[J].林业机械与木工设备, 2004, 32(9):31-32. doi: 10.3969/j.issn.2095-2953.2004.09.011 LIU J H, LI Y J, QI W.Optimum design of return mechanism of transverse insertion mechanism[J].Forestry Machinery & Woodworking Equipment, 2004, 32(9):31-32. doi: 10.3969/j.issn.2095-2953.2004.09.011
[3]	陆怀民, 郭秀荣, 赵志国, 等.防风固沙草方格铺设机器人沙漠通过性研究[J].中国工程机械学报, 2006, 4(4):389-393. doi: 10.3969/j.issn.1672-5581.2006.04.003 LU H M, GUO X R, ZHAO Z G, et al. Desert trafficability study of trellis grass paving robot[J].Chinese Journal of Construction Machinery, 2006, 4(4):389-393. doi: 10.3969/j.issn.1672-5581.2006.04.003
[4]	刘晋浩, 舒庆.草方格铺设机器人虚拟样机建模及平顺性分析[J].北京林业大学学报, 2007, 29(4):72-74. http://j.bjfu.edu.cn/article/id/8990 LIU J H, SHU Q. Virtual prototype of straw-checkerboard sand barriers paving robot and ride comfort[J]. Journal of Beijing Forestry University, 2007, 29(4):72-74. http://j.bjfu.edu.cn/article/id/8990
[5]	李玉印, 潘海兵, 刘晋浩.草方格铺设机构的研究与设计[J].林业机械与木工设备, 2009, 37(5):13-15. doi: 10.3969/j.issn.2095-2953.2009.05.004 LI Y Y, PAN H B, LIU J H. Study and design of the straw-checker paving mechanism[J]. Forestry Machinery & Woodworking Equipment, 2009, 37(5):13-15. doi: 10.3969/j.issn.2095-2953.2009.05.004
[6]	潘海兵, 刘晋浩.防风固沙机器人振动系统的研究[J].中国工程机械学报, 2008, 6(4):379-383. doi: 10.3969/j.issn.1672-5581.2008.04.001 PAN H B, LIU J H. Study on vibration system for check-straw-paving robots[J]. Chinese Journal of Construction Machinery, 2008, 6(4):379-383. doi: 10.3969/j.issn.1672-5581.2008.04.001
[7]	孙术发, 刘晋浩, 叶郁.防风固沙草方格铺设机器人横向割断机构的动力学分析[J].中国沙漠, 2011, 31(5):1087-1092. http://d.old.wanfangdata.com.cn/Periodical/zgsm201105002 SUN S F, LIU J H, YE Y. Dynamics analysis on transverse cutting mechanism of straw checkerboard paving robot[J]. Journal of Desert Research, 2011, 31(5):1087-1092. http://d.old.wanfangdata.com.cn/Periodical/zgsm201105002
[8]	唐伟国, 刘晋浩, 李村, 等.多杆横向插刀机构的运动学研究及仿真[J].机械工程与自动化, 2017(2):38-39. doi: 10.3969/j.issn.1672-6413.2017.02.016 TANG W G, LIU J H, LI C, et al.Kinematics research and simulation of multibar transverse inserted knife mechanism[J].Mechanical Engineering and Automation, 2017(2):38-39. doi: 10.3969/j.issn.1672-6413.2017.02.016
[9]	HU X P, ZUO F Y. Research and simulation of robot trajectory planning in joint space[J]. Applied Mechanics & Materials, 2012, 103:372-377. http://d.old.wanfangdata.com.cn/Conference/WFHYXW632476
[10]	BAWAB S, KINZEL G L, WALDRON K J. Rectified synthesis of six-bar mechanisms with well-defined transmission angles for four-position motion generation[J]. Journal of Mechanical Design, 1996, 9(118): 377-383. http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=0a7d0282cb3c5e55c09dd4a831d8ed48
[11]	SHIAKOLAS P S, KOLADIYA D, KEBRLE J. On the optimum synthesis of six-bar linkages using differential evolution and the geometric centroid of precision positions technique[J]. Mechanism & Machine Theory, 2003, 40(3): 319-335. http://cn.bing.com/academic/profile?id=ff26183058b83b51cd64fb62291cab47&encoded=0&v=paper_preview&mkt=zh-cn
[12]	CHAI F J, XU J Y, XU Y. Kinematics simulation of steel tube rotating mechanism based on ADAMS[J]. Applied Mechanics & Materials, 2012, 130:2647-2650. http://www.scientific.net/AMM.130-134.2647
[13]	LI C H, YANG B J, CAI G Q. Optimization design of 3-TPT parallel robot based on ADAMS simulation technology[C]//International Workshop on Intelligent Systems and Applications. New York: IEEE, 2009: 1-4. https://ieeexplore.ieee.org/document/5072992/
[14]	司凯.立体固沙车横向铺设系统的设计与研究[D].北京: 北京林业大学, 2011. http://cdmd.cnki.com.cn/Article/CDMD-10022-1011134583.htm SI K. Design and research on stereo sand-fixing car's transverse-paving system[D].Beijing: Beijing Forestry http://cdmd.cnki.com.cn/Article/CDMD-10022-1011134583.htm

[1]	Ma Jiaxin, Sun Yujun, Zhu Zhaoting. Impact of two types of competition indices on the growth and biomass assessment of Cunninghamia lanceolata[J]. Journal of Beijing Forestry University. DOI: 10.12171/j.1000-1522.20230230
[2]	Li Hui, Liu Dongchao, Xu Ruirui, Hou Lina, Wang Tianqi, Liu Zhonghua, Fu Xiao, Li Shengbo. Development and identification of SSR markers based on RAD-seq of Lonicera japonica[J]. Journal of Beijing Forestry University, 2021, 43(6): 108-117. DOI: 10.12171/j.1000-1522.20200337
[3]	Liu Feng, Xi Benye, Dai Tengfei, Yu Jinglin, Li Guangde, Chen Yushan, Wang Jie, Jia Liming. Effects of water and fertilizer coupling on soil nitrogen, fine root distribution and biomass of Populus tomentosa[J]. Journal of Beijing Forestry University, 2020, 42(1): 75-83. DOI: 10.12171/j.1000-1522.20190222
[4]	LIU Kun, CAO Lin, WANG Gui-bin, CAO Fu-liang. Biomass allocation patterns and allometric models of Ginkgo biloba[J]. Journal of Beijing Forestry University, 2017, 39(4): 12-20. DOI: 10.13332/j.1000-1522.20160374
[5]	WANG Ling, ZHAO Guang-liang, HUANG Jin. Microbial biomass and enzyme activity of the rhizosphere soil under different grafted Xanthoceras sorbifolia cultivars[J]. Journal of Beijing Forestry University, 2015, 37(8): 69-75. DOI: 10.13332/j.1000-1522.20150013
[6]	DONG Dian, LIN Tian-xi, TANG Jing-yi, LIU Jing-chen, SUN Guo-wen, YAO Jie, CHENG Yan-xia. Biomass allocation patterns and allometric models of Tilia amurensis[J]. Journal of Beijing Forestry University, 2014, 36(4): 54-63. DOI: 10.13332/j.cnki.jbfu.2014.04.013
[7]	DONG Li-hu, LI Feng-ri, JIA Wei-wei.. Effects of tree competition on biomass and biomass models of Pinus koraiensis plantation.[J]. Journal of Beijing Forestry University, 2013, 35(6): 14-22.
[8]	CHU Xu, DI Xue-ying, YANG Guang. Impacts of forest fire on root biomass, carbon and nitrogen concentration of Larix gmelinii.[J]. Journal of Beijing Forestry University, 2013, 35(2): 10-16.
[9]	XU Fei, GUO Wei-hua, XU Wei-hong, WANG Ren-qing. Effects of water stress on morphology, biomass allocation and photosynthesis in Robinia pseudoacacia seedlings[J]. Journal of Beijing Forestry University, 2010, 32(1): 24-30.
[10]	ZHANG Guo-jun, ZHANG Guo-jun, LI Yun, LI Yun, LI Fang-ping, LI Fang-ping, XU Zhao-he, XU Zhao-he, SUN Yu-han, SUN Yu-han. Effects of root age on biomass and leaf nutrition in tetraploid Robinia pseudoacacia. [J]. Journal of Beijing Forestry University, 2009, 31(3): 37-41.

Cited By

Cited by

Periodical cited type(18)

1.	黄鑫，徐国祺，马耀辉. 制备具有荧光示踪功能的硼掺杂银杏叶碳量子点木材防腐剂. 北京林业大学学报. 2025(01): 116-125 . 本站查看
2.	张景朋，邵闯，蒋明亮. 高效液相色谱法测定防腐材中嘧菌酯含量的方法研究. 木材科学与技术. 2025(01): 64-70 .
3.	吴喆虹，王文志，罗玲卓，袁超峰，苏勇，朱万泽. 贡嘎山健康与腐朽峨眉冷杉径向生长分异及其气候响应. 生态学报. 2024(23): 10897-10905 .
4.	储炜，徐明，许琪，李婷，崔兆彦. 加速腐朽环境下重组竹力学及耐腐性能研究. 建筑科学与工程学报. 2023(03): 30-39 .
5.	宋丽琴，宋太泽，祝席文，程芳超，孙建平. 木材花斑真菌对木材的影响及应用研究进展. 应用与环境生物学报. 2022(03): 805-812 .
6.	谢启芳，张保壮，张利朋，苗壮. 自然干裂木柱受力性能试验与退化模型研究. 建筑结构学报. 2022(12): 210-222 .
7.	常旭东，金光泽. 地形和土壤因子对红松活立木腐朽的影响. 林业科学. 2022(11): 71-82 .
8.	张景朋，蒋明亮，马星霞，张斌. 甲氧基丙烯酸酯类制剂的木材防腐性能研究. 北京林业大学学报. 2021(03): 131-137 . 本站查看
9.	王玉娇，彭尧，曹金珍. 褐腐初期南方松木材微观形貌与化学成分分析. 北京林业大学学报. 2021(03): 138-144 . 本站查看
10.	王湘茹，曾飞扬，吕嘉宇，乔宇欣，闫丽. 硅烷偶联剂对水杨酸/二氧化硅微胶囊改性杨木耐腐性的影响. 林产工业. 2021(05): 54-59 .
11.	贾茹，孙海燕，王玉荣，汪睿，赵荣军，任海青. 杉木无性系新品种‘洋020’和‘洋061’10年生幼龄材微观结构与力学性能的相关性. 林业科学. 2021(05): 165-175 .
12.	赵艳，张泽宇，金宇乔，庞久寅，孙耀星. 木材表面仿制类玫瑰花超疏水结构研究. 林产工业. 2020(12): 32-34+39 .
13.	赵博识，于志明，漆楚生，唐睿琳，张扬. 木材微生物变色与调控研究现状和展望. 林产工业. 2019(08): 1-4 .
14.	郭宇，李超，李英洁，王哲，姚利宏. 木材细胞壁与木材力学性能及水分特性之间关系研究进展. 林产工业. 2019(08): 14-18 .
15.	徐华东，狄亚楠，邢涛，徐群. 褐腐对白杨木材固碳量的影响规律及机理. 中南林业科技大学学报. 2019(11): 104-109 .
16.	孙恒，冀晓东，赵红华，杨茂林，丛旭. 人工林刺槐木材物理力学性质研究. 北京林业大学学报. 2018(07): 104-112 . 本站查看
17.	孙海燕，苏明垒，王玉荣. 木材细胞壁力学性能与细胞壁组分和构造的相关性研究. 林产工业. 2018(10): 22-27 .
18.	陈继超，姜维娜，曹文静，周徐亮，周晓燕，徐莉. 杨木纤维/Si-B复合材料制备及其防腐性能研究. 南京林业大学学报(自然科学版). 2018(05): 206-210 .

Other cited types(18)

Get Citation

PDF

XML

Article views (2657) PDF downloads (39) Cited by(36)

Turn off MathJax

Article Contents

Abstract

References

Kinematics solution and trajectory planning of stepping transverse slotting mechanism