Non-linear dynamic characteristics of ejection transplanting mechanism with joint clearance

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Journal of Vibration and Shock ›› 2020, Vol. 39 ›› Issue (21) : 186-194.

QIN Zhe, QIAN Mengbo, GONG Jianwei, LI Xibin

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Abstract

Rotary transplanting mechanism is a current research hotspot, and it is simple in structure, safe and reliable, and can complete the work of picking, transporting and planting seedlings at the same time.However, current research mainly focuses on function design, the problem of joint clearance caused by machining error, design precision, etc.is not considered.The clearance can cause collision and vibration of pair elements in joint and variation of constraint conditions, number of DOF and topological structure of the system.So, the influence of joint clearance has to be considered when studying dynamic characteristics of a transplanting mechanism.Here, based on dividing contact modes of pair elements, the contact force solving model of a clearance revolute jointwas established.A solving subroutine for contact force was compiled with Fortran language, it was embedded into the function solving library of ADAMS.An ejection transplanting mechanism considering revolute joint clearance was simulated based on this subroutine.Results showed that the joint clearance should not be too large or too small, otherwise it can cause severe collision between pair elements and their vibration; the study results provide a reference for improving control precision of transplanting mechanisms with joint clearance.

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transplanting mechanism / joint clearance / collision model / nonlinear dynamics

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QIN Zhe, QIAN Mengbo, GONG Jianwei, LI Xibin. Non-linear dynamic characteristics of ejection transplanting mechanism with joint clearance[J]. Journal of Vibration and Shock, 2020, 39(21): 186-194

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