面向育种表型监测的水旱两用六轮差速式机器人底盘设计与试验

Design and Experiment of Amphibious Six-wheel Differential-drive Robot Chassis for Breeding Phenotyping Monitoring

摘要:

为解决育种作物表型监测机器人底盘易损伤作物、灵活性与通过性欠佳等问题，结合我国热区的常见大田作物种植农艺特点，以 Solidworks 软件设计了轮距可在 1800~2000mm 无级精准调节的水旱通用型六轮差速式表型监测机器人底盘。通过理论计算结果设计选型了关键部件和分析了底盘转向、稳定及通过性能，并明确了以水田刚性叶轮和充气橡胶轮两种行走装置适配水旱田环境，以及以滚珠丝杠机构调节底盘轮距。利用 ANSYS 有限元软件进行车架关键部件的强度和刚度分析以及模态分析，仿真结果表明车架强度和刚度满足使用要求，一阶固有频率为 59.58Hz, 可避免与地面共振。样机试制后进行田间试验，结果可得两种形态底盘的最大行驶速度为 1.21、1.23m/s, 加速度为 0.34,0.35 m/s2, 平均直线偏驶率为 1.43% 和 2.56%, 最小转弯半径均为 1626mm, 纵向爬坡角为 37°, 垂直障碍翻越高度为 435mm, 水田越埂高度为 320mm。样机试验结果与理论分析相符，表明底盘性能优良，可满足热区大田作物育种表型监测需求，为热区表型监测提供技术和装备支撑。

Abstract:

Aiming to address issues such as crop damage, insufficient flexibility, and poor trafficability of existing chassis for crop breeding phenotypic robots, an amphibious six-wheel differential steering chassis was designed via Solidworks. The design incorporated the agronomic characteristics of major field crops in China's tropical regions and features a stepless, precisely adjustable wheel track ranging from 1 800 mm to 2 000 mm. Based on theoretical calculations, key components were selected, and the steering, stability, and trafficability of the chassis were analyzed. Specifically, a ball screw mechanism was employed for wheel track adjustment, while two interchangeable travel mechanisms-rigid impellers for paddy fields and pneumatic rubber tires for dry land-were configured to adapt to amphibious environments. Finite element analysis (ANSYS) validated the frame's structural integrity, identifying a first-order natural frequency of 59.58 Hz to effectively prevent ground resonance. Field trials confirmed the prototype's robust performance: it achieved a maximum speed of 1. 23 m/s, a minimum turning radius of 1 626 mm, climbing angles exceeding 37°, a vertical obstacle clearance of 435 mm, and a ridge crossing capability of 320 mm. The experimental results corroborated the theoretical analysis, demonstrating excellent chassis performance that satisfied the requirements for field crop phenotyping in tropical regions, thereby providing technical and equipment support for phenotyping monitoring.