Simulation and Parameter Optimization of Inserting-Extracting-Transporting Process of a Seedling Picking End Effector...

Area of Science:

• Agricultural Engineering
• Robotics
• Horticultural Mechanization

Background:

• Automatic transplanters face challenges with low seedling picking success rates and high pot seedling damage.
• These issues stem from unclear interactions and parameter mismatches between the end effector and pot seedlings.
• Optimizing the seedling picking end effector is crucial for improving agricultural automation efficiency.

Purpose of the Study:

• To address the low success rate and high damage rate in automatic pot seedling picking and throwing.
• To visualize and analyze the disturbance of substrate particles during the picking process using coupled simulations.
• To optimize the working parameters of a two-finger, four-needle seedling picking end effector.

Main Methods:

• An EDEM-RecurDyn coupled simulation was employed to analyze particle-effector interactions.
• A kinematic mathematical model and discrete element model of the pot seedling were established.
• Box-Behnken bench tests, variance analysis, and response surface methodology were used for parameter optimization.

Main Results:

• The optimal parameter combination achieved a 97.48% success rate for seedling picking and throwing with a 2.12% substrate loss rate.
• Verification experiments confirmed these results, with a 97.35% success rate and 2.34% substrate loss.
• Field trials demonstrated a 97.04% success rate and 2.41% substrate loss, validating the model's practicality.

Conclusions:

• The established EDEM-RecurDyn coupled model accurately simulates the seedling picking process.
• The optimized working parameters significantly improve the success rate and reduce substrate loss.
• The seedling picking end effector exhibits strong anti-interference ability, proving its feasibility and practicality in field applications.