Trajectory planning and dynamics analysis of greenhouse parallel transplanting robot

Qizhi Yang; Cuiping Jia; Mengtao Sun; Xiaoqi Zhao; Mingsheng He; Hanping Mao; Jianping Hu; Min Addy

Trajectory planning and dynamics analysis of greenhouse parallel transplanting robot

Qizhi Yang, Cuiping Jia, Mengtao Sun, Xiaoqi Zhao, Mingsheng He, Hanping Mao, Jianping Hu, Min Addy

Bioproducts and Biosystems Engineering

Research output: Contribution to journal › Article › peer-review

1 Scopus citations

Abstract

The seedling transplanting robot of greenhouse is the key equipment for automatic planting of plug seedlings in modern facility agricultural production. Most of the existing greenhouse seedling transplanting machines are three-axis gantry-type structures, which have low rigidity, poor precision, and required a precise tray feeding system. In this paper, a new type of space three-degree-of-freedom parallel transplanting robot was developed, which can realize high-speed, high-precision and flexible transplanting. Based on the requirements of transplanting seedlings, a single transplanting trajectory was planned, and the 3-4-5 polynomial function suitable for transplanting the plug seedlings was selected as the motion control function of the moving platform, and the difference of active joint driving torque between the right-angle transition trajectory and the arc transition trajectory was simulated and compared. The Lagrange dynamics theoretical model of the system was established, and the easily deformable rod was flexibly reinforced in ADAMS. Through the method of rigid flexible coupling, the elastic deformation of the moving platform in different mass members was compared and analyzed. Finally, the transplanting test was carried out by physical prototype. The experiment found that when the acceleration of moving platform was 30m/s², the success rate of transplanting was 95.3%, and the efficiency was 1850 plants per hour.

Original language	English (US)
Pages (from-to)	64-76
Number of pages	13
Journal	International Agricultural Engineering Journal
Volume	29
Issue number	3
State	Published - Sep 2020

Bibliographical note

Funding Information:
This work was supported by the National Natural Science Foundation of China (Grant No. 51675239); The Twelfth Five-Year Plan National Science and Technology Program Cooperation Project in Rural Areas of China (Grant No. 2013BAD08B03-1); Natural Fund of Jiangsu Province of China (Grant No. BK20161344); The Six Talents Summit of Jiangsu Province of China (Grant No. ZBZZ-022); The Construction Work of Dominant Subjects of Higher Education of Jiangsu Province of China (Grant No. SU CAI (2014) No. 37).

Publisher Copyright:
© 2020, Asian Association for Agricultural Engineering. All rights reserved.

Keywords

Elastic deformation
Parallel transplanting robot
Seedling transplanting robot
Trajectory planning
Transplanting test

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title = "Trajectory planning and dynamics analysis of greenhouse parallel transplanting robot",

abstract = "The seedling transplanting robot of greenhouse is the key equipment for automatic planting of plug seedlings in modern facility agricultural production. Most of the existing greenhouse seedling transplanting machines are three-axis gantry-type structures, which have low rigidity, poor precision, and required a precise tray feeding system. In this paper, a new type of space three-degree-of-freedom parallel transplanting robot was developed, which can realize high-speed, high-precision and flexible transplanting. Based on the requirements of transplanting seedlings, a single transplanting trajectory was planned, and the 3-4-5 polynomial function suitable for transplanting the plug seedlings was selected as the motion control function of the moving platform, and the difference of active joint driving torque between the right-angle transition trajectory and the arc transition trajectory was simulated and compared. The Lagrange dynamics theoretical model of the system was established, and the easily deformable rod was flexibly reinforced in ADAMS. Through the method of rigid flexible coupling, the elastic deformation of the moving platform in different mass members was compared and analyzed. Finally, the transplanting test was carried out by physical prototype. The experiment found that when the acceleration of moving platform was 30m/s2, the success rate of transplanting was 95.3%, and the efficiency was 1850 plants per hour.",

keywords = "Elastic deformation, Parallel transplanting robot, Seedling transplanting robot, Trajectory planning, Transplanting test",

author = "Qizhi Yang and Cuiping Jia and Mengtao Sun and Xiaoqi Zhao and Mingsheng He and Hanping Mao and Jianping Hu and Min Addy",

note = "Funding Information: This work was supported by the National Natural Science Foundation of China (Grant No. 51675239); The Twelfth Five-Year Plan National Science and Technology Program Cooperation Project in Rural Areas of China (Grant No. 2013BAD08B03-1); Natural Fund of Jiangsu Province of China (Grant No. BK20161344); The Six Talents Summit of Jiangsu Province of China (Grant No. ZBZZ-022); The Construction Work of Dominant Subjects of Higher Education of Jiangsu Province of China (Grant No. SU CAI (2014) No. 37). Publisher Copyright: {\textcopyright} 2020, Asian Association for Agricultural Engineering. All rights reserved.",

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AU - Yang, Qizhi

AU - Jia, Cuiping

AU - Sun, Mengtao

AU - Zhao, Xiaoqi

AU - He, Mingsheng

AU - Mao, Hanping

AU - Hu, Jianping

AU - Addy, Min

N1 - Funding Information: This work was supported by the National Natural Science Foundation of China (Grant No. 51675239); The Twelfth Five-Year Plan National Science and Technology Program Cooperation Project in Rural Areas of China (Grant No. 2013BAD08B03-1); Natural Fund of Jiangsu Province of China (Grant No. BK20161344); The Six Talents Summit of Jiangsu Province of China (Grant No. ZBZZ-022); The Construction Work of Dominant Subjects of Higher Education of Jiangsu Province of China (Grant No. SU CAI (2014) No. 37). Publisher Copyright: © 2020, Asian Association for Agricultural Engineering. All rights reserved.

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N2 - The seedling transplanting robot of greenhouse is the key equipment for automatic planting of plug seedlings in modern facility agricultural production. Most of the existing greenhouse seedling transplanting machines are three-axis gantry-type structures, which have low rigidity, poor precision, and required a precise tray feeding system. In this paper, a new type of space three-degree-of-freedom parallel transplanting robot was developed, which can realize high-speed, high-precision and flexible transplanting. Based on the requirements of transplanting seedlings, a single transplanting trajectory was planned, and the 3-4-5 polynomial function suitable for transplanting the plug seedlings was selected as the motion control function of the moving platform, and the difference of active joint driving torque between the right-angle transition trajectory and the arc transition trajectory was simulated and compared. The Lagrange dynamics theoretical model of the system was established, and the easily deformable rod was flexibly reinforced in ADAMS. Through the method of rigid flexible coupling, the elastic deformation of the moving platform in different mass members was compared and analyzed. Finally, the transplanting test was carried out by physical prototype. The experiment found that when the acceleration of moving platform was 30m/s2, the success rate of transplanting was 95.3%, and the efficiency was 1850 plants per hour.

AB - The seedling transplanting robot of greenhouse is the key equipment for automatic planting of plug seedlings in modern facility agricultural production. Most of the existing greenhouse seedling transplanting machines are three-axis gantry-type structures, which have low rigidity, poor precision, and required a precise tray feeding system. In this paper, a new type of space three-degree-of-freedom parallel transplanting robot was developed, which can realize high-speed, high-precision and flexible transplanting. Based on the requirements of transplanting seedlings, a single transplanting trajectory was planned, and the 3-4-5 polynomial function suitable for transplanting the plug seedlings was selected as the motion control function of the moving platform, and the difference of active joint driving torque between the right-angle transition trajectory and the arc transition trajectory was simulated and compared. The Lagrange dynamics theoretical model of the system was established, and the easily deformable rod was flexibly reinforced in ADAMS. Through the method of rigid flexible coupling, the elastic deformation of the moving platform in different mass members was compared and analyzed. Finally, the transplanting test was carried out by physical prototype. The experiment found that when the acceleration of moving platform was 30m/s2, the success rate of transplanting was 95.3%, and the efficiency was 1850 plants per hour.

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KW - Trajectory planning

KW - Transplanting test

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IS - 3

ER -

Trajectory planning and dynamics analysis of greenhouse parallel transplanting robot

Abstract

Bibliographical note

Keywords

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