Simulation of workspace and trajectory of a weeding mechanism

摘要

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.