关键词: 植保机械, 草莓施药, 施药机械臂, Matlab, 运动仿真

Abstract:  In response to the problems of low mechanization level, poor application effect, and pesticide pollution in strawberry plant protection, this article designs a selfpropelled strawberry applicator for strawberry ridges. The pesticide applicator is equipped with components such as a track chassis, diaphragm pump, mechanical arm, and spray rod. Using the D-H parameter method, the mathematical model of the manipulators movement is established, the theoretical kinematics equation is derived, and the relative position and attitude relationship between the spray bar and each joint is obtained. The motion simulation of the robotic arm is carried out using Matlab software, and the operating space and trajectory of the robotic arm are simulated. Finally, reliability analysis is conducted on the trajectory of the robotic arm to obtain the optimal speed parameters. The results show that the design of the pesticide applicator is reasonable, and the derived theoretical kinematics equation is accurate, which meets the needs of the pesticide application operation and adheres to the reliability principle of the operation track. When the track chassis speed is 1.32m/s, the base angle speed is 10.16(°)/min, the boom angle speed is 30.41(°)/min, and the end effector angle speed is 81.33(°)/min, the spray bar and crop can maintain a stable relative height, and the equipment operation trajectory is aligns closely with the ideal operation trajectory.

Key words: plant protection machinery, application of strawberry medicine, applicator arm, Matlab, motion simulation