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Development of an Information Collection Robot Body in Agricultural Fields

Author: HuNa
Tutor: ChenYong
School: Nanjing Forestry University
Course: Mechanical Design and Theory
Keywords: The farmland information collected robots ADAMS Vibration Co-simulation Fuzzy Control
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 183
Quote: 1
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Abstract


The acquisition of the farmland biological and environmental information people understand the status of biological growth and environmental changes , in order to implement the premise of the artificial regulation and management decisions . Traditional manual methods of observation , it is difficult to meet the requirements of modern precision agriculture . Provide a new way of thinking for the agricultural information and field information collection method based remote control robot remote control navigation and information gathering by agricultural technicians through the console navigation software . In this paper, the the farmland information gathering robot body development work . The designed four parallel suspension, the principle obstacle clearance and moving performance evaluation . Leveling and steering the robot kinematics analysis , to provide a basis for precise control . According Jacobian matrix singular position of the robot dynamics analysis software ADAMS simulation of Singularity precise location , consistent with the theoretical analysis . ADAMS, parameterized virtual prototype of the robot . Simulation of the robot obstacle negotiation process , that has a good terrain adaptability . Robot multivariate test design , the resulting optimization of various parameters of the robot model . Draw robots Pro / E assembly drawings and AutoCAD parts diagram , making a the robot physical prototype , and remote control walking . Test robot movement and flexibility , the platform is stable, indicating that the mechanism design is reasonable . Finally , the robot made ??three improvements : First, based on simulated data reduced size; exciting simulation based on ADAMS / Vibration module , pursuant to improve the structural design , reducing the vibration response ; discussed ADAMS and MATLAB electromechanical co-simulation based on fuzzy control , in the MATLAB Simulink leveling control system model .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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