蔬菜钵苗移栽机取苗机构人机交互参数优化与试验

Parameters Optimization with Human-computer Interaction Method and Experiment of Vegetable Seedling Pick-up Mechanism

摘要:

针对蔬菜钵苗自动取苗机构多目标优化设计问题，利用可视化人机交互优化方法进行求解。建立了移栽机取苗机构优化数学模型，编制基于Visual Basic的计算机辅助分析与优化软件，分析设计变量对目标和约束的影响，进而优化得到满足取苗要求的结构参数组合。利用ADAMS软件和高速摄像技术对取苗机构运动特性进行了移栽机仿真和台架试验验证。试验结果与理论分析结果基本一致，表明了机构运动学模型及其优化设计理论和方法的正确性和可靠性。通过取苗试验证明该机构能完成取苗作业，且取苗成功率为80%。

Abstract:

The human-computer interaction optimization method was applied to solve the complicate multi-objective optimization design problem of vegetable seedling automatic pick-up mechanism. After the mechanism optimization mathematic model was established, the Visual Basic-based computer-aided analysis and optimization software was developed. The design variables’ impacts on the objectives and constraints were analyzed. The optimization combination of structural parameters meeting the seedling pick-up requirements was obtained. Then, the ADAMS software and high-speed digital video camera and image processing technique were used in simulation experiment and bench experiment for testing its kinematics characteristics. The basically consistency of experimental results and theoretical analysis results showed that the kinematics model and its optimization design theory and methods of the mechanism were correct and reliable. At last, it is proved through seedling pick-up experiment that the mechanism can successfully complete seedling pick-up operation with the success rate of 80%. 