旋转式钵苗栽植机构多目标参数优化及试验

In order to get the best parameters of rotary seedling planting mechanism quickly and easily, this paper takes planting mechanism with two-stage planetary gears of eccentric - non-circular gears and elliptical gears (hereinafter referred to as planting mechanism with planetary eccentric- elliptical gears) as research object. By combining the new methods of guaranteed seedling erectness rate that the author proposed and the agricultural requirements of seedling planting, this paper proposed conditions that rotary seedling planting mechanism should meet to realize perfect planting, including kinematic (trajectory, pose and speed) requirements of planting nozzle, geometrical requirements of hole, avoiding interference and convexity preservation of non-circular gears. According to these requirements, this paper establish eleven subgoal functions of planting mechanism with planetary eccentric- elliptical gears, and by using fuzzy theory, every subgoal was described by membership function to make every subgoal function's sub-ranges are [0,1]. Then evaluation function was introduced to turn the multi-objective optimization problem into a single objective optimization problem, and by using the optimization program which was compiled by using matlab genetic algorithm toolbox, parameters met perfect requirements were got. According to the parameters which was got by optimization, this paper carried out structural design, 3D modeling, virtual simulation and test bed machining, then the experiment of simulating the field planting on self-design rotating circular soil tank were conducted. The result shows that this mechanism has high seedling erectness rate and the optimization model is correct. The establishment and solving of the optimization model conquer the defect of trial and error that simulation software has in the process of parameter design of planting mechanism, improve the optimization efficiency and reduce the demand for people who do parameter optimization.