A mixed multi pose motion synthesis method was proposed to achieve accurate take-and-place tasks of planetary gear mechanisms with different velocities.The unequal velocity planetary gear train was regarded as a combination of planar 2R open chain mechanism and non-circular gear transmission mechanism.Constrained by the key pose(exact and approximate)data on the ideal trajec-tory,a mixed multi-pose motion synthesis model of the planar 2R open chain was established based on the condition of constant link length,and the optimal structural parameters were obtained by homoto-py algorithm.The calculation and distribution method of the non-circular gear ratio was given,and the mixed multi pose motion synthesis of unequal velocity planetary gear train was realized.The pro-posed method was applied to design the seedling picking mechanism in the field of agricultural machin-ery to meet the requirements of accurate taking and placing of vegetable pot seedlings.The correctness of the proposed method was verified by virtual simulation analysis and physical prototype experiments.
关键词
行星轮系/非圆齿轮/混合多位姿/运动综合/取苗机构
Key words
planetary gear train/non-circular gear/mixed multi pose/motion synthesis/seedling picking mechanism
维普
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