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基于圖論的多桿式栽植機構(gòu)構(gòu)型綜合與方法研究
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國家自然科學基金項目(51975534,、51675487)


Structural Synthesis and Innovative Design of Multi-link Planting Mechanism Based on Graph Theory
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    摘要:

    針對目前栽植機械中多桿式栽植機構(gòu)構(gòu)型有限的問題,,借助圖論型綜合的方式,構(gòu)建完備的多連桿栽植機構(gòu)構(gòu)型庫,。首先,,在連桿機構(gòu)運動鏈綜合中,基于加權(quán)四次冪矩陣與加權(quán)最小距離矩陣的方法,,獲取拓撲圖頂點相似特征碼,,根據(jù)不同頂點間特征碼的唯一性,開展運動鏈拓撲圖相似點識別與同構(gòu)判別,;其次,,建立栽植機構(gòu)構(gòu)型篩選規(guī)則,利用相似點的特征實現(xiàn)功能點的選取,,建立了6構(gòu)件至9構(gòu)件機構(gòu)功能拓撲圖圖庫,,得到六桿一自由度構(gòu)型14個,七桿二自由度構(gòu)型17個,,八桿一自由度構(gòu)型510個,,九桿二自由度構(gòu)型917個;最后,,在構(gòu)型庫中選取不同構(gòu)件數(shù)下的構(gòu)型進行運動學建模,,優(yōu)化獲得適合栽植作業(yè)運動要求的新型六桿、七桿,、八桿栽植機構(gòu)尺寸,,并進行運動仿真驗證了構(gòu)型綜合方法的正確性,可為多樣化種植機械的創(chuàng)新設計提供更多可選構(gòu)型,。

    Abstract:

    In view of the limited configuration of multi-link planting mechanism at present, a complete multi-link planting mechanism library was constructed by means of graph theory. Firstly, based on the method of weighted fourth power matrix and weighted minimum distance matrix, the similarity feature code of vertices was obtained in the kinematic chain synthesis of linkage mechanism. In accordant with the uniqueness of the feature code, the similarity recognition and isomorphism identification of the kinematic chain were conducted. Secondly, the specific screen rule of the planting mechanism configuration was established based on similarity of vertices, and then the functional vertices for input link, output link and rack were determined. The mechanism topology library of six-link to nine-link was established: the number of 6-link 1-DOF KCs was 14, the number of 7-link 2-DOF KCs was 17, the number of 8-link 1-DOF KCs was 510, and the number of 9-link 2-DOF KCs was 917. Finally, the configuration of different links consisted of six-link to eight-link in the planting mechanism library was selected for kinematics modeling, and the new size of six, seven and eight-link planting mechanisms suitable for planting operation were obtained. The correctness of the configuration synthesis method was verified by comparing the theoretical results with the motion simulation results, which provided more optional configurations for the innovative design of diversified planting mechanism. The use of structural synthesis method is conducive to the innovative design of planting mechanism.

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孫良,鄭廣輝,葉治政,俞高紅.基于圖論的多桿式栽植機構(gòu)構(gòu)型綜合與方法研究[J].農(nóng)業(yè)機械學報,2022,53(5):67-74. SUN Liang, ZHENG Guanghui, YE Zhizheng, YU Gaohong. Structural Synthesis and Innovative Design of Multi-link Planting Mechanism Based on Graph Theory[J]. Transactions of the Chinese Society for Agricultural Machinery,2022,53(5):67-74.

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  • 收稿日期:2021-05-04
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  • 在線發(fā)布日期: 2022-05-10
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