基于SA-PSO算法采摘机械臂参数优化
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摘要
当前油茶果的采摘方式为人工采摘,采摘方式落后,采摘效率低,导致生产成本高,严重制约油茶产业的健康发展。为解决这一问题,实现油茶果机械化和自动化采摘,设计了一款振动式油茶果采摘机。油茶果采摘机工作过程中采摘机械臂的结构尺寸将会限制其工作的范围。为确保采摘机能高效率的采摘油茶果,对采摘机械臂进行参数优化,寻找最优参数。结合实地考察的结果,确定优化设计的变量为举升液压缸行程S_j、伸缩液压缸行程S_s、俯仰液压缸行程S_f,建立目标函数,确定约束条件。基于SA-PSO算法,对油茶果采摘机械臂进行结构参数优化,得到最优参数解:举升液压缸行程为S_j=154 mm,伸缩液压缸行程为S_s=320 mm,俯仰液压缸形成为S_f=166 mm,为采摘机的优化设计了提供了理论数据支持。
At present,the harvest of camellia is accomplished by artificial method with low efficiency and high cost,which seriously restricts the healthy development of the camellia industry.In order to solve this problem and realize the mechanization and automatic picking of camellia,a vibrating camellia picking machine was designed.Based on the fact that during the working process of the camellia picking machine,the structural size of the picking arm limits the scope of its work,an optimization was conducted on the parameters of picking arm to ensure that the picking machine could extract the oil tea fruit efficiently.Combined with the results of the field investigation,the variables of the optimized design were determined as the lifting hydraulic cylinder stroke S_j,the telescopic hydraulic cylinders stroke S_s,and the pitch hydraulic cylinder stroke S_f,and the objective function was established to determine the constraint condition.Based on the SA-PSO algorithm,the structural parameters of the camellia picking robot arm were optimized,and the optimal parameter solution was obtained:S_j=154 mm,S_s=320 mm,and S_f=166 mm.The optimized design of the picking machine would provide theoretical data support for the optimization of the machine.
At present,the harvest of camellia is accomplished by artificial method with low efficiency and high cost,which seriously restricts the healthy development of the camellia industry.In order to solve this problem and realize the mechanization and automatic picking of camellia,a vibrating camellia picking machine was designed.Based on the fact that during the working process of the camellia picking machine,the structural size of the picking arm limits the scope of its work,an optimization was conducted on the parameters of picking arm to ensure that the picking machine could extract the oil tea fruit efficiently.Combined with the results of the field investigation,the variables of the optimized design were determined as the lifting hydraulic cylinder stroke S_j,the telescopic hydraulic cylinders stroke S_s,and the pitch hydraulic cylinder stroke S_f,and the objective function was established to determine the constraint condition.Based on the SA-PSO algorithm,the structural parameters of the camellia picking robot arm were optimized,and the optimal parameter solution was obtained:S_j=154 mm,S_s=320 mm,and S_f=166 mm.The optimized design of the picking machine would provide theoretical data support for the optimization of the machine.
引文
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[12] 高自成,李立君,刘银辉.油茶果采摘机采摘机械臂的机构设计及运动仿真[J].西北林学院学报,2012,27(2):40-42.GAO Z C,LI L J,LIU Y H.The Mechanism design and movement simulation for the mechanical arm of the oiltea camellia fruit picking machine[J].Journal of Northwest Forest University,2012,27(2):266-268.(in Chinese)
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[15] 唐斌,江浩斌,陈龙,等.基于改进型PSO算法的汽车转阀参数优化[J].农业机械学报,2015,46(8):319-326.TANG B,JIANG H B,CHEN L,et al.Optimization of rotary valve parameters based on improved PSO algorithm[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(8):319-326.(in Chinese)
[16] 高自成,李立君,李昕,等.齿梳式油茶果采摘机采摘执行机构的研制与试验[J].农业工程学报,2013,29(10):19-25.
[2] 张晓涛.湖南省油茶产业综合效益评估研究[D].长沙:中南林业科技大学,2016.
[3] 刘洋,曲振兴,汤晶宇,等.油茶机械化作业现状与发展趋势[J].林业机械与木工装备,2015,43(10):6-8.
[4] Loghavi M,Mohseni S.The effects of shaking frequency and amplitude on detachment of lime fruit[J].Iran Agriculture Research,2006,25(1):27-38.
[5] Safdari A,Ghassemzadeh H R.Design,construction and evaluation of portable limb shaker for almond tree[J].AJAE,2010,1(5):179-183.
[6] 王朋辉,李立君,高自成,等.摆动式林果采摘头设计与分析[J].西北林学院学报,2015,30(5):288-291.WANG P H,LI L J,GAO Z C.The design and analysis of oscillating fruit picking head[J].Journal of Northwest Forest University,2015,30(5):288-291.(in Chinese)
[7] 徐丽明,陈俊威,吴刚,等.梳刷振动式枸杞收获装置设计与运行参数优化[J].农业工程学报,2018,34(9):75-82.XU L M,CHEN J W,WU G,et al.Design and operation parameters optimization of comb brush vibratory harvesting device for wolfberry[J].Transactions of the Chinese Society of Agricultural Engineering,2018,34(9):75-82.(in Chinese)
[8] 朱广飞,任嘉嘉,王振,等.油茶果脱壳机的设计与工作参数优化[J].农业工程学报,2016,32(7):19-27.ZHU G F,REN J J,WANG Z,et al.Designof shelling machine for camellia oleifera fruit and operating parameter optimization[J].Transactions of the Chinese Society of Agricultural Engineering,2016,32(7):19-27.(in Chinese)
[9] 张最,肖宏儒,丁文芹,等.振动式枸杞采摘机理仿真分析与样机试验[J].农业工程学报,2015,31(10):20-28.
[10] 刘银辉,油茶果采摘机虚拟样机设计及动力学分析[D].长沙:中南林业科技大学,2012.
[11] 左二兵.油茶果釆摘机执行机构设计及工作空间优化[D].长沙:中南林业科技大学,2012.
[12] 高自成,李立君,刘银辉.油茶果采摘机采摘机械臂的机构设计及运动仿真[J].西北林学院学报,2012,27(2):40-42.GAO Z C,LI L J,LIU Y H.The Mechanism design and movement simulation for the mechanical arm of the oiltea camellia fruit picking machine[J].Journal of Northwest Forest University,2012,27(2):266-268.(in Chinese)
[13] 张捷,田袁,邓绍江.SA-PSO算法在CNN边缘提取模板设计中的应用[J].重庆大学学报,2016,39(4):147-153.ZHANG J,TIAN Y,DENG S J.The application of SA-PSO to CNN edge detection template design[J].Journal of Chongqing University,2016,39(4):147-153.(in Chinese)
[14] 张院生,高永涛,王喆,等.基于SA-PSO混合算法的微震定位研究[J].现代隧道技术,2016,53(3):137-145.
[15] 唐斌,江浩斌,陈龙,等.基于改进型PSO算法的汽车转阀参数优化[J].农业机械学报,2015,46(8):319-326.TANG B,JIANG H B,CHEN L,et al.Optimization of rotary valve parameters based on improved PSO algorithm[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(8):319-326.(in Chinese)
[16] 高自成,李立君,李昕,等.齿梳式油茶果采摘机采摘执行机构的研制与试验[J].农业工程学报,2013,29(10):19-25.
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