Simulation of workspace and trajectory of a weeding mechanism

Robot simulation is an important way to verify the correctness of model and feasibility of design. Taking the Delta parallel mechanism as the effector of a weeding robot, this paper designs the workspace for the weeding mechanism in the field of corn seedlings, when each corn seedling has three to f...

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Autores principales:	Bicheng Bo, Shuai Zhang, Wei Liu, Li Liu, Yinggang Shi
Formato:	article
Lenguaje:	EN
Publicado:	Elsevier 2022
Materias:	Weeding Delta parallel mechanism Simulation Workspace Trajectory planning Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/ae57af83e4d840bcb2a1c0b668dbf6d6
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spelling	oai:doaj.org-article:ae57af83e4d840bcb2a1c0b668dbf6d62021-11-18T04:45:50ZSimulation of workspace and trajectory of a weeding mechanism1110-016810.1016/j.aej.2021.06.100https://doaj.org/article/ae57af83e4d840bcb2a1c0b668dbf6d62022-02-01T00:00:00Zhttp://www.sciencedirect.com/science/article/pii/S1110016821004622https://doaj.org/toc/1110-0168Robot simulation is an important way to verify the correctness of model and feasibility of design. Taking the Delta parallel mechanism as the effector of a weeding robot, this paper designs the workspace for the weeding mechanism in the field of corn seedlings, when each corn seedling has three to five leaves, and then carries out a simulation analysis on the workspace of the weeding mechanism. To realize variable rate precision spraying, the authors planned a three-segment gate-shaped trajectory for the end effector, detailed the trajectory under the joint coordinate system, and analyzed the motion law of S-curve motion profile. Then, the law of each kinematics parameter was solved on MATLAB, and plotted into graphs. Based on the simulation results, a prototype was developed for the proposed weeding mechanism, and subject to weeding experiments to obtain the end effector trajectory. Compared with the simulated results, the maximum deviation in the end effector trajectory during actual operation was 11.58%; the prototype could complete a weeding action every 2.8 s, while advancing at the speed of 0.4 m/s. The results fully demonstrate the feasibility of applying Delta parallel mechanism in weeding, and the reasonability of our workspace design and trajectory planning.Bicheng BoShuai ZhangWei LiuLi LiuYinggang ShiElsevierarticleWeedingDelta parallel mechanismSimulationWorkspaceTrajectory planningEngineering (General). Civil engineering (General)TA1-2040ENAlexandria Engineering Journal, Vol 61, Iss 2, Pp 1133-1143 (2022)
institution	DOAJ
collection	DOAJ
language	EN
topic	Weeding Delta parallel mechanism Simulation Workspace Trajectory planning Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Weeding Delta parallel mechanism Simulation Workspace Trajectory planning Engineering (General). Civil engineering (General) TA1-2040 Bicheng Bo Shuai Zhang Wei Liu Li Liu Yinggang Shi Simulation of workspace and trajectory of a weeding mechanism
description	Robot simulation is an important way to verify the correctness of model and feasibility of design. Taking the Delta parallel mechanism as the effector of a weeding robot, this paper designs the workspace for the weeding mechanism in the field of corn seedlings, when each corn seedling has three to five leaves, and then carries out a simulation analysis on the workspace of the weeding mechanism. To realize variable rate precision spraying, the authors planned a three-segment gate-shaped trajectory for the end effector, detailed the trajectory under the joint coordinate system, and analyzed the motion law of S-curve motion profile. Then, the law of each kinematics parameter was solved on MATLAB, and plotted into graphs. Based on the simulation results, a prototype was developed for the proposed weeding mechanism, and subject to weeding experiments to obtain the end effector trajectory. Compared with the simulated results, the maximum deviation in the end effector trajectory during actual operation was 11.58%; the prototype could complete a weeding action every 2.8 s, while advancing at the speed of 0.4 m/s. The results fully demonstrate the feasibility of applying Delta parallel mechanism in weeding, and the reasonability of our workspace design and trajectory planning.
format	article
author	Bicheng Bo Shuai Zhang Wei Liu Li Liu Yinggang Shi
author_facet	Bicheng Bo Shuai Zhang Wei Liu Li Liu Yinggang Shi
author_sort	Bicheng Bo
title	Simulation of workspace and trajectory of a weeding mechanism
title_short	Simulation of workspace and trajectory of a weeding mechanism
title_full	Simulation of workspace and trajectory of a weeding mechanism
title_fullStr	Simulation of workspace and trajectory of a weeding mechanism
title_full_unstemmed	Simulation of workspace and trajectory of a weeding mechanism
title_sort	simulation of workspace and trajectory of a weeding mechanism
publisher	Elsevier
publishDate	2022
url	https://doaj.org/article/ae57af83e4d840bcb2a1c0b668dbf6d6
work_keys_str_mv	AT bichengbo simulationofworkspaceandtrajectoryofaweedingmechanism AT shuaizhang simulationofworkspaceandtrajectoryofaweedingmechanism AT weiliu simulationofworkspaceandtrajectoryofaweedingmechanism AT liliu simulationofworkspaceandtrajectoryofaweedingmechanism AT yinggangshi simulationofworkspaceandtrajectoryofaweedingmechanism
_version_	1718425060927078400

Simulation of workspace and trajectory of a weeding mechanism

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