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| 1 | Path planning of the fruit tree pruning manipulator based on improved RRT-Connect algorithm显示文摘Aiming to realize the obstacle avoidance of the fruit tree pruning manipulator in unstructured complex natural environment,an improved bidirectional fast extended random tree(RRT-Connect)algorithm was presented in this study.The manipulator and obstacles were properly simplified based on their geometrical characteristics to build collision detection models taking account of the obstacles,ground,and manipulator itself and to carry out the obstacle avoidance path planning.Goal-biased strategy and adaptive step size adjustment principle were introduced to accelerate the path search speed.Bidirectional pruning optimal strategy and cubic non-uniform B-spline interpolation method were adopted to optimize the path generated by RRT-Connect.The simulation path planning experiment was carried out in the simulation system of the fruit tree pruning manipulator and the practical obstacle avoidance path planning experiment was carried out on the real fruit tree pruning manipulator path planning experiment platform.The results showed that the path planning time and the path length of the improved RRT-Connect algorithm reduced by about 55%and 60%respectively compared with the basic RRT-Connect algorithm.The path planning success rate of the improved RRT-Connect algorithm was 100%,and the planned path was smooth,continual and executable,which could effectively guide the manipulator to avoid obstacles and lead the end effector of the manipulator to the goal point.The proposed improved algorithm not only has certain application value for obstacle avoidance of the fruit tree pruning manipulator in fruit tree pruning environment,but also has theoretical reference value for path planning of other types of robots. | Yaya Chen Yuxing Fu Bin Zhang Wei Fu Congju Shen | 2022 | International Journal of Agricultural and Biological Engineering2022，15，2： | 0 |
| 2 | Design and test of a multi-edge toothed cutting device for membraneimpurity mixed material显示文摘As the existing residual film crushing device in Xinjiang cannot directly crush membrane-impurity mixed material,by analyzing the compressive and cutting force characteristics of residual film material layer and cotton stalk,the cutting conditions of mixed materials were obtained,and the method of cutting was determined.A multi-edge toothed cutters was created,and a cutting device was built.It was preliminarily determined that the number of teeth in the cutters was 8,the clearance between the teeth and between the tooth and fixed blade was 3 mm,the speed of the high-speed cutter was 800 r/min,and the speed difference between the high-and low-speed cutters was-300 r/min.Test results show that the ratio of residual film to total residual film sampling mass was(2.22±0.30)%,(19.19±2.02)%,(58.94±3.19)% and(20.65±2.05)%,respectively,when the maximum outer profile size in the range of[0,20)mm,[20,100)mm,[100,500)mm and[500,~)mm.The mass of cotton stalks with lengths of[0,50)mm,[50,100)mm and[100,~)mm accounted for(32.57±1.5)%,(27.77±1.3)%and(39.66±1.75)%,respectively,and the cutting power consumption was(85.41±15.63)kJ.The test results can provide a basis for the subsequent membrane-impurity mixed material cutting technology,as well as some guidance for the separation of it. | Rongqing Liang Bingcheng Zhang Xuegeng Chen Hewei Meng Xinzhong Wang Congju Shen Yaping Li Za Kan | 2023 | International Journal of Agricultural and Biological Engineering2023，16，2： | 0 |
| 3 | Parameter optimization and test of hydraulic soil insertion device of orchard gas explosion subsoiling and fertilizing machine显示文摘Hydraulic soil insertion device is a key component of orchard gas explosion subsoiling and fertilizing machine to realize rod fixed point soil insertion and gas fertilizer injection into soil.In order to explore the influence of the main working parameters and structural parameters on the depth and cylinder pressure of the hydraulic insertion device during the insertion process,the working parameters were optimized to ensure the insertion quality and efficiency.In this paper,force analysis was performed on the rod insertion process,and key parameter equation of soil insertion resistance was established.LS-DYNA finite element simulation software was applied to analyze the force variation of the rod during the insertion process.Box-Behnken test optimization design method and Design-Expert V8.0.6.1 software were used to carry out parameter optimization test of hydraulic insertion device.A multivariate quadratic polynomial regression equation was established by setting the engine revolution,insertion rod diameter and insertion time as independent variables,and the operation parameters of the hydraulic insertion device were optimized based on the relationship between the independent variables and the response values.The results showed that the regression equation model based on the response values of insertion depth and cylinder pressure had a good fitting degree.The engine revolution,rod diameter and insertion time all had significant effects on the increase of insertion depth and decrease of cylinder pressure,with interaction between the engine speed and insertion time with the insertion depth,and interaction between any two factors of engine revolution,rod diameter and insertion time with the cylinder pressure.The influences of the test factors on the insertion depth showed a descending order as engine speed,insertion time,and rod diameter.The influences of the test factors on the cylinder pressure showed a descending order as engine speed,rod diameter,and insertion time.Based on the results of insertion depth and cylinder pressure,the optimal combination of parameters was as follows:engine revolution of 1450 r/min;rod diameter of 32 mm;and the insertion time of 8 s.Under this optimal combination,the insertion depth of the hydraulic insertion device was 44.43 cm,and the cylinder pressure was 23.09 MPa.The experimental results showed that the optimal combination of parameters could meet the agronomic requirements of fast and deep insertion,thus providing a theoretical support for the improvement and optimization of hydraulic soil insertion device of gas explosion subsoiling and fertilizing machine. | Congju Shen Lixin Zhang Shouxing Jia Yan Zhou Fan Li Yameng Dai Jing Zhang Wenxiao Ma | 2023 | International Journal of Agricultural and Biological Engineering2023，16，2： | 0 |
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