Design of clamping-pot-type planetary gear train transplanting mechanism for rice wide–narrow-row planting
Keywords:
rice pot seedling, wide–narrow-row transplanting, spatial trajectory, planetary gear train, non-circular gearAbstract
To design a clamping-pot-type wide–narrow-row pot seedling transplanting (WPST) mechanism with desired spatial beak-shaped trajectory and working posture, a new design method of planetary gear train transplanting mechanism (PGTM) with non-circular gears based on several key spatial poses (position and posture) was proposed. The PGTM was simplified to a spatial open-loop chain with two-revolute (2R) joints. The geometric constraint equations containing only the structural parameters of the chain were then established on the basis of the three key spatial poses, and the homotopy algorithm was used to obtain all the required parameters of the mechanism. In accordance with the parameters obtained, the relative angular displacement relation between the planet carrier and the transplanting arm was optimized, the trajectory of the mechanism was replayed, and the total transmission ratio was determined. The degree of freedom of the spatial 2R mechanism was reduced by attaching to the unequal gear pair, and the transmission ratio was distributed in accordance with the gear type to realize the design of a non-circular gear pitch curve. Lastly, a clamping-pot-type PGTM for rice WPST driven by the combination of planar non-circular and non-conical gears was designed, and virtual simulation and prototype test were conducted. Results showed that the simulation and prototype test trajectories were consistent with the desired trajectory. Under the operating speeds of 50 r/min and 90 r/min, the success rates of seedling picking were 95.32% and 90.15%, respectively, which verified the feasibility of the theoretical method. This method could provide a reference for the design of a spatial PGTM with nonuniform transmission. Keywords: rice pot seedling, wide–narrow-row transplanting, spatial trajectory, planetary gear train, non-circular gear DOI: 10.25165/j.ijabe.20211402.5975 Citation: Wang L, Sun L, Huang H M, Yu Y X, Yu G H. Design of clamping-pot-type planetary gear train transplanting mechanism for rice wide–narrow-row planting. Int J Agric & Biol Eng, 2021; 14(2): 62–71.References
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[19] Sun L, Zhou Y Z, Huang H M, Wu C Y, Zhang G F. Analysis and design of a spatial planetary noncircular gear train for rice seedling transplanting based on three given positions. Transactions of the ASABE, 2020; 63(1): 165–176.
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[25] Zhao X. Optimal design and experiment research of planetary gear train with two-order non-circular gears seedling pick-up mechanism on seedling transplanter. Hangzhou: Zhejiang Sci-Tech University, 2014. (in Chinese)
[2] Gao F Q, Zhang S Q. Research and popularization of wide and narrow row spacing cultivation techniques for rice. China Rice, 2018; 24(4): 22–23, 26. (in Chinese)
[3] Zhang Y S. Optimization design and test of transplanting mechanism based on clipping rice plug-seeding. Hangzhou: Zhejiang Sci-Tech University, 2018. (in Chinese)
[4] Yu X X, Zhao Y, Chen B C, Zhou M L, Zhang H, Zhang Z C. Current situation and prospect of transplanter. Transactions of the CSAM, 2014; 45(8): 44–53. (in Chinese)
[5] Xu C L, Lv Z J, Xin L, Zhao Y. Optimization design and experiment of
full-automatic strawberry potted seedling transplanting mechanism. Transactions of the CSAM, 2019; 50(8): 97–106. (in Chinese)
[6] Yu G H, Tong Z P, Sun L, Tong J H, Zhao X. Novel Gear Transmission mechanism with twice unequal amplitude transmission ratio. Journal of Mechanical Design, 2019; 141(9): 1–23.
[7] Konishi T, Horio M, Yoshida S. Develpoment of high performance rice transplanter. Transactions of the JSAM, 1989; 51(5): 89–95.
[8] Zhou M L, Sun L, Du X Q, Zhao Y, Xin L. Optimal design and experiment of rice pot seedling transplanting mechanism with planetary Bezier gears. Transactions of the ASABE, 2016; 57(6): 1537–1548.
[9] Ye B L, Jin X J, Yu G H, Li L, Gao Y, Zhu H. Parameter modification guiding optimization design and tests of a rotary transplanting mechanism for rice plug seedlings. Applied Engineering in Agriculture, 2015; 31(6): 863–873.
[10] Ye B L, Yi W M, Yu G H, Gao Y, Zhao X. Optimization design and test of rice plug seedling transplanting mechanism of planetary gear train with incomplete eccentric circular gear and non-circular gears. Int J Agric & Biol Eng, 2017; 10(6): 43–55.
[11] Sun L, Mao S M, Zhao Y, Liu X L, Zhang G F, Du X Q. Kinematic analysis of rotary transplanting mechanism for wide-narrow row pot seedlings. Transactions of the ASABE, 2016; 59(2): 475–485.
[12] Yu G H, Jin Y, Chang S S, Ye B L, Gu J B, Zhao X. Design and test of clipping-plug type transplanting mechanism of rice plug-seedling. Transactions of the CSAM, 2019; 50(7): 100–108. (in Chinese)
[13] Guo L S, Zhang W J. Kinematic analysis of a rice transplanting mechanism with eccentric planetary gear trains. Mechanism and Machine Theory, 2001; 36(11): 1175–1188.
[14] Bae K. Design of a rice transplanting mechanism with noncircular planetary-gear-train system. Journal of the Korean Society for Precision Engineering, 2005; 22(12): 108–116.
[15] Zhao X, Wang C, Yang M X, Sun L, Chen J N. Reverse design and analysis of automatic seedling pick-up mechanism with non-circular gear planetary train. Transactions of the CSAE, 2015; 31(16): 30–36. (in Chinese)
[16] Sun L, Zhu J B, Chen J N, Zhao Y, Wu C Y. Reverse design of transplanting mechanism with spatial planetary gear train based on spherical curve. Transactions of the CSAE, 2014; 30(7): 9–17. (in Chinese)
[17] Sun L, Xin Z Q, Xu Y D, Liu B, Yu G H, Wu C Y. Transplanting mechanism of rice seedling based on precise multi-position analysis. Transactions of the CSAM, 2019; 50(9): 78–86. (in Chinese)
[18] Sun L, Wang Z F, Wu C Y, Zhang G F. Novel approach for planetary gear train dimensional synthesis through kinematic mapping. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2020; 234(1): 273–288.
[19] Sun L, Zhou Y Z, Huang H M, Wu C Y, Zhang G F. Analysis and design of a spatial planetary noncircular gear train for rice seedling transplanting based on three given positions. Transactions of the ASABE, 2020; 63(1): 165–176.
[20] Perez A, Mccarthy J M. Dimensional synthesis of bennett linkages. Journal of Mechanical Design, 2003; 125(1): 98–104.
[21] Mavroidis C, Lee E, Alam M. A new polynomial solution to the geometric design problem of spatial R-R robot manipulators using the denavit and Hartenberg parameters. Journal of Mechanical Design, 2001; 123(1): 58–67.
[22] Lee T L, Li T Y, Tsai C H. HOM4PS-2.0: a software package for solving polynomial systems by the polyhedral homotopy continuation method. Computing, 2008; 83(2): 109–133.
[23] Kano H, Egerstedt M, Nakata H, Martin C F. B-splines and control theory. Applied Mathematics and Computation, 2003; 145(2): 263–288.
[24] Ye J, Zhao X, Wang Y, Sun X C, Chen J N, Xia X D. A novel planar motion generation method based on the synthesis of planetary gear train with noncircular gears. Journal of Mechanical Science and Technology, 2019; 33(10): 4939–4949.
[25] Zhao X. Optimal design and experiment research of planetary gear train with two-order non-circular gears seedling pick-up mechanism on seedling transplanter. Hangzhou: Zhejiang Sci-Tech University, 2014. (in Chinese)
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Published
2021-04-03
How to Cite
Wang, L., Sun, L., Huang, H., Yu, Y., & Yu, G. (2021). Design of clamping-pot-type planetary gear train transplanting mechanism for rice wide–narrow-row planting. International Journal of Agricultural and Biological Engineering, 14(2), 62–71. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/5975
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Power and Machinery Systems
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