摘要
喷雾机器人试验中喷雾幅宽、喷幅边缘的实际轨迹以及重喷漏喷面域不易获得,而且作业时机组的运动状况事后不能重新显示。为此,利用ADAMS软件的动画仿真功能,在ADAMS下使用样条编辑器将试验过程中采集到的机器人和喷雾小车位置数据生成运动轨迹线,让机器人与小车沿此轨迹线运动,显现喷杆运动状况以及喷雾幅宽重喷漏喷区域;同时,利用其后处理模块来获得相邻两喷幅边缘轨迹间距离等参数,便于对其进行定量计算,以此来对作业效果进行评价,并以图形方式输出或以文件形式保存。
when spraying robot working, it is not easy to get the width of spraying swath, the edge of spraying swath and the duplication and leakage dimension and the robot and the towing carriage can not be seen after test .in this paper, the robot and the towing carriage can were made to run along the tracing curve made of real position data from test with spline editor in ADAMS, in this way the motion of the robot and the towing carriage, spraying role and the spraying duplication and leakage area were shown; what＇s more, geodesic distance of locus of adjacent spraying swath＇s margin and others can be used in quantitative calculation in order to assess the effect of the test ,and meanwhile data can be exported in the form of graph and holden in the form of file.
出处
《农机化研究》
北大核心
2007年第3期28-31,共4页
Journal of Agricultural Mechanization Research
关键词
自动控制技术
喷雾机器人
理论研究
重喷漏喷
ADAMS动画
auto-control technology
spraying robot
theoretical research
duplication and leakage dimension in spraying
ADAMS cartoon
