Z S T U Zhejiang Sci-Tech University 硕士专业学位论文Professional Master’s Thesis
中文论文题目: 取放机构的设计及其在蔗段种植上的应用研究英文论文题目：Design and Applied Rearch of the Pick-and-
Place Mechanism
专业学位类别：工程硕士
奥巴马上海演讲
专业学位领域：机械工程（普通全日制）
作者姓名：钱晓玲
指导教师：俞高红教授
邵功旦
完成日期：2018年12月6日
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摘要
本文设计了一种取放机构，包括了驱动部分和执行部分。其中，驱动部分由7个齿轮组成，执行部分由两个结构相同的取放臂组成。该机构实现了小型物体的抓取—转移—放置动作，解决了人工取放效率低、工作强度大、不安全等问题。针对所设计的取放机构，描述了工作原理，分析了运动特性，并建立了运动学模型。为了便于最后试验的开展，以甘蔗段（蔗苗）为取放对象进行机构的结构设计。根据资料可知，应用于机械种植的甘蔗段粗约为20mm，长度约为60mm。在模拟了人工种植甘蔗段的姿态后，预设甘蔗段取放轨迹，编写该机构的运动优化分析程序，对其取放甘蔗段姿态、各个相关参数、以及运动轨迹进行分析。在进行理论分析并建立三维模型后，完成取放机构的仿真，最后进行取放试验。
下面是本文的具体研究内容：
(1)阐明了取放机构的工作原理，并进行了机构的理论分析，建立了取放爪尖点的位移、速度、加速度模型，实现了取放机构中主要齿轮的节曲线设计。
(2)根据甘蔗段的取放要求和取放机构数学模型的分析，利用VB软件平台自主开发了取放机构的参数分析优化程序，然后利用该优化程序的运行结果，分析了各个参数变量的改变对轨迹的影响。最后依靠人机互动的方法，求得了取放机构的一组较优参数。
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(3)对取放机构进行了齿轮传动部分的结构设计和取放臂部分的结构设计，最终完成了取放机构的整体设计。
大写字母英文(4)在SolidWorks等三维建模软件中完成了所有零件的3D建模以及取放机构的虚拟装配，并导入仿真软件ADAMS中进行取放机构的动态仿真，并对数据进行后处理，对比仿真后的取放轨迹与VB生成的理论轨迹，实现了取放机构可靠性和运动平稳性的证明。
(5)在AutoCAD等绘图软件中完成了取放机构的二维设计，并进行取放机构试验样机的实物加工、装配，完成了取放机构的取放试验，测得了实际运行轨迹，并将实际运行轨迹和理论运行轨迹作对比，验证了理论的正确性。
关键词：甘蔗段种植；行星轮系机构；取放机构；参数优化；取放试验
Design and Applied Rearch for Sugarcane Segment Planting of themachinehead
Pick-and-place Mechanismthe reader
四级各题分值
Abstract
A pick-and-place mechanism which has been applied to grab-transfer-placement process for the gen凯夫拉尔
eral object has been designed. The driver part and the execution part have been included. The driving part is compod of 7 gears, and the executive part is compod of two arms with the same structure. The problems of low efficiency, high working intensity and dangerousness of manual operation have been solved. Work principle of the pick-and-place mechanism has been described; kinematics of the mechanism has been built. Its mechanism has been established simultaneously. Take the sugarcane gment as an example to carry out the final trial. According to the data, the sugarcane gment applied to mechanical planting is about 20mm thick and 60mm long. The posture of artificial planting sugarcane has been simulated in this paper. And the track of sugarcane harvest and relea has been presuppod. The main task of this paper is to write the motion optimization analysis program of the mechanism, meanwhile, motion trajectory of picking sugar cane gment and relevant parameters has been analyzed. Then after theoretical analysis and three-dimensional designing, simulation has been carried out, and finally pick-and-place test has been performed.英语三级真题
The followings are the specific contents of this thesis:
(1) Pitch curve design of the main gears ud in the pick-and-place mechanism has been realized, in addition, its theoretical analysis has been carried out at the same time. The mathematical model of t
faithlesshe displacement, velocity and accelerated velocity of the claw tip point when the pick-and-place mechanism picks up the object has been established. Design principle of the mechanism has been clarified according to theoretical analysis and mathematical model.
(2) According to the requirement of picking and placing sugarcane gment and the analysis of mathematical model of sugarcane gment, bad on Visual Basic, parameter analysis optimization software for the mechanism has been developed, and then u that which has been designed in this paper to analyze the influence of the change of each parameter
