Journal ID : AMA-28-07-2022-11565
[This article belongs to Volume - 53, Issue - 08]
Total View : 373

Title : Design and optimization of rotary cone feed pushing robot with a pose-adjustment mechanism

Abstract :

In order to meet the rapid growth of cattle and sheep breeding in China, a rotary cone feed pushing robot with a pose-adjustment mechanism was designed to replace manual work to reduce labor costs in this paper. The theoretical model of walking and rotary cone pushing was established, and the walking and pushing mechanism was designed and calculated, and the key parameters, such as the driving torque and power of walking, the rotary driving torque and speed of the rotary cone were obtained. In order to solve the problem that the existing pushing robot cannot push clean feed and walk on the slope, a cone attitude adjustment mechanism driven by an electric linear actuator was designed. The cone attitude adjustment mechanism is mainly composed of ternary link, a front end cam and a rear end cam. In order to reduce the driving force and shock, four kinds of convex contours are established by selecting the motion law of sinusoidal acceleration, improved sinusoidal acceleration, 3-4-5 polynomial and improved trapezoidal acceleration. MATLAB was used to write a program to check and calculate the minimum radius of curvature, and to establish a reasonable push and return motion angle. Using Solidworks Motion, the motion simulation analysis of the pose-adjustment mechanism using four kinds of cam profiles was carried out respectively. The analysis shows that the pose-adjustment mechanism designed by the motion law of sine acceleration is the optimal design, and its driving force, roller speed, acceleration and impact force are the smallest. The maximum driving force of the electric linear actuator is 1172N, the maximum speed of the roller is 19mm/s, the maximum acceleration is 3.6mm/s2, and the maximum reaction force on the roller is 748.5N.

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