基于改进粒子群优化算法的水稻钵苗膜上移栽机构混合多位姿综合与试验

Mixed Multi Pose Synthesis of Film-mulched Transplanting Mechanism for Rice Pot Seedlings Using GFPSO Algorithm

摘要:

针对现有水稻钵苗膜上移栽机构缺少对钵苗移栽及破膜挖穴作业轨迹与姿态控制，从而影响水稻钵苗膜上移栽协同作业质量的问题，本文提出一种基于改进粒子群优化算法（GFPSO）的并置式复合非圆齿轮行星轮系机构混合多位姿综合设计方法。首先提出并置式水稻钵苗膜上移栽机构设计要求，分别完成钵苗移栽与协同破膜挖穴理想轨迹规划与关键位姿点选取，建立水稻钵苗膜上移栽机构混合多位姿综合模型；将粒子群优化算法与适应度-距离平衡选择策略及高斯随机游走扩散过程结合，提出一种改进粒子群智能优化算法（GFPSO）进而完成复合非圆行星轮系机构的混合多位姿综合模型求解，实现基于求解结果的轮系机构设计。根据设计结果开展水稻钵苗膜上移栽机构三维建模及ADAMS虚拟样机仿真，通过对比仿真轨迹与关键点位姿参数，验证了机构设计正确性。通过物理样机加工装配与试验台架组装，开展机构空转试验。试验结果表明，实际运动轨迹、姿态与理论设计、虚拟仿真结果基本一致；开展水稻钵苗膜上移栽性能试验，试验结果表明，平均膜上移栽成功率为90.95％，平均栽植株距变异系数为2.35％，水稻钵苗膜上移栽性能良好，验证了水稻钵苗膜上移栽机构的可行性与实用性。

Abstract:

Aiming to address the issue that existing transplanting mechanisms for rice pot seedlings on film-mulched fields lack independent trajectory and posture control for seedling transplanting and film-breaking hole-digging operations, thereby affecting collaborative operation quality, a mixed multi-pose synthesis method was proposed based on an improved particle swarm optimization (GFPSO) algorithm for the design of a juxtaposed composite non-circular gear planetary gear train mechanism, aiming to develop an advanced transplanting mechanism for rice pot seedlings on film-mulched fields. Firstly, design requirements for the juxtaposed transplanting mechanism were established. Ideal trajectories for seedling transplanting and collaborative film-breaking hole-digging operations were planned, with key pose points selected. A mixed multi-pose synthesis model was developed for the mechanism. By integrating the particle swarm optimization algorithm with a fitness-distance balance selection strategy and Gaussian random walk diffusion, an enhanced GFPSO algorithm was proposed to solve the synthesis model, enabling the design of the composite non-circular planetary gear train. Based on the optimized results, a 3D model of the mechanism was constructed, and virtual prototype simulations were performed by using ADAMS. Comparative analysis of simulated trajectories and key pose parameters validated the design accuracy. Physical prototypes and test benches were subsequently fabricated for no-load experiments. Experimental results demonstrated close alignment between actual motion trajectories/postures and theoretical/virtual simulation outcomes. Further performance tests on rice pot seedling transplanting showed an average transplanting success rate of 9095% and an average plant spacing variation coefficient of 2.35%, confirming the mechanism’s feasibility and practicality for film-mulched field applications. The research result can provide a systematic methodology for the integrated design of trajectory and posture control in agricultural machinery, offering technical insights for enhancing precision and reliability in mechanized rice transplanting operations on film-mulched fields.