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

摘要： 针对草莓植保机械化水平低、施药效果差、农药污染等问题，根据草莓垄道设计一款自走式草莓施药机。该施药机配备履带底盘、隔膜泵、机械臂及喷杆等部件。通过D-H参数法建立机械臂运动数学模型，推导出理论运动学方程，得到喷杆与各关节的相对位姿关系。通过Matlab软件进行机械臂运动仿真，模拟机械臂作业空间及轨迹。对机械臂作业轨迹进行可靠性分析，得出最佳速度参数。结果表明：施药机设计合理、推导的理论运动学方程准确，能够满足施药作业的需要，且达到作业轨迹可靠性原则的要求。当履带底盘速度为1.32m/s、基座转角速度为10.16（°）/min、大臂转角速度为30.41（°）/min、末端执行器转角速度为81.33（°）/min时，喷杆与作物能够保持稳定的相对高度，设备作业轨迹与理想作业轨迹最贴合。

关键词: 植保机械, 草莓施药, 施药机械臂, Matlab, 运动仿真