Dynamics Modeling and Analysis of a Novel Constraint Metamorphic Reversible Plough

To meet the requirements of different farming objects, this paper presents a novel constraint metamorphic reversible plough (CMRP) which has four distinct working phases and the feature of underactuation, and its prototype has been manufactured for practical testing purposes. Firstly, the kinematics of the mechanism in each phase are studied systematically with the closed-loop vector method, including displacement, velocity, and acceleration analysis. Considering the underactuated characteristics of the mechanism in the source phase, its dynamic models in the source phase are further established by the Lagrange equation. Based on the theory that velocity and acceleration are the same in an extremely brief period, the motion laws of the slider in the source phase can be obtained. To obtain the constraint force/torque acting on the crucial joints in each phase, the dynamic model of the CMRP is established by the Newton–Euler equation. Furthermore, the initial position of the CMRP with a flexible prismatic joint can be determined using the static balance equation. Finally, the obtained kinematic and dynamic models of the CMRP in each phase are verified, respectively, through comparing the simulation results in SolidWorks and Matlab software, and the experiment with the prototype is conducted. The CMRP proposed in this study provides a feasible technical scheme for improving the capability of reversible plough over unknown and complex terrains.

[1]  Jin Guo-guang,et al.  Research on Configuration-complete Dynamics Modeling and Numerical Simulation of Metamorphic Mechanism , 2004 .

[2]  Jian S. Dai,et al.  Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism , 2016 .

[3]  Xilun Ding,et al.  An optimization method for metamorphic mechanisms based on multidisciplinary design optimization , 2014 .

[4]  Shujun Li,et al.  Task-orientated Design Method of Practical Constraint Metamorphic Mechanisms , 2018 .

[5]  W. Marsden.  I and J , 2012 .

[6]  Bin Li,et al.  Method and System of Plowing Depth Online Sensing for Reversible Plough , 2018 .

[7]  Girma Gebresenbet,et al.  Optimization of animal drawn tillage implement systems : Part 2, development of a reversible plough and a ridger , 1997 .

[8]  Rahim Ebrahimi,et al.  Geometric characterization of moldboard plough using coupled close photography and surface fitting model , 2017 .

[9]  Ahmad Kalhor,et al.  An experimental study on the direct & indirect dynamic identification of an over-constrained 3-DOF decoupled parallel mechanism , 2017 .

[10]  Jian S. Dai,et al.  Novel spherical-planar and Bennett-spherical 6R metamorphic linkages with reconfigurable motion branches , 2018, Mechanism and Machine Theory.

[12]  Neil Genzlinger.  A. and Q , 2006 .

[13]  C. Galletti,et al.  Single-loop kinematotropic mechanisms , 2001 .

[14]  Stepan Yu. Gatilov.  Using low-rank approximation of the Jacobian matrix in the Newton-Raphson method to solve certain singular equations , 2014, J. Comput. Appl. Math..

[15]  Gang Cheng,et al.  Dynamics analysis of a parallel hip joint simulator with four degree of freedoms (3R1T) , 2012 .

[16]  Saeid Nahavandi,et al.  Kinematic and Dynamic Analysis of the Gantry-tau, a 3-DoF Translational Parallel Manipulator , 2017 .

[17]  Dong Liang,et al.  Dynamic Modeling and Performance Analysis of a Redundantly Actuated 2-DOF Parallel Manipulator , 2015, ICIRA.

[18]  Aaas News,et al.  Book Reviews , 1893, Buffalo Medical and Surgical Journal.

[19]  J. Dai,et al.  Mobility in Metamorphic Mechanisms of Foldable/Erectable Kinds , 1998 .

[20]  Lin Zhu,et al.  An improved horizontally reversible plow design based on virtual assembly semantics and constraint , 2016 .

[21]  Josef Boxberger,et al.  Energy consumption in cultivating and ploughing with traction improvement system and consideration of the rear furrow wheel-load in ploughing , 2013 .

[22]  Bo Hu,et al.  Kinematics, dynamics and stiffness analysis of a novel 3-DOF kinematically/actuation redundant planar parallel mechanism , 2017 .

[23]  Jayant Kumar Mohanta,et al.  Dynamic Modelling Approaches for a 3-PPR Planar Parallel Manipulator , 2016 .

[24]  Jian S. Dai,et al.  Task-based structure synthesis of source metamorphic mechanisms and constrained forms of metamorphic joints , 2016 .

[25]  S. M. Varedi,et al.  Optimal dynamic design of a planar slider-crank mechanism with a joint clearance , 2015 .

[26]  Qiuye Sun,et al.  Distributed multi-agent optimization via event-triggered based continuous-time Newton-Raphson algorithm , 2018, Neurocomputing.

[27]  Xilun Ding,et al.  Design and analysis of a metamorphic mechanism cell for multistage orderly deployable/retractable mechanism , 2017 .

[28]  Jian S. Dai,et al.  METAMORPHIC MECHANISMS AND THEIR CONFIGURATION MODELS , 2000 .

[29]  Shiwu Zhang,et al.  Modeling of share/soil interaction of a horizontally reversible plow using computational fluid dynamics , 2017 .