CAJ | 학술논문

树干喷涂机用于对树干进行药液喷涂，由底座、机械手和控制部分等组成。机械手具有四个自由度，可上下移动、水平张合移动、前后摆动、左右摆动，以适应形状各异的树木。在Pro/E环境中对其主要零件进行三维参数化建模，实现了整机虚拟装配及运动仿真，获得机构在运动过程中位移、加速度等变化曲线，为整机设计提供技术支持。
수간분도궤용우대수간진행약액분도，유저좌、궤계수화공제부분등조성。궤계수구유사개자유도，가상하이동、수평장합이동、전후파동、좌우파동，이괄응형상각이적수목。재Pro/E배경중대기주요령건진행삼유삼수화건모，실현료정궤허의장배급운동방진，획득궤구재운동과정중위이、가속도등변화곡선，위정궤설계제공기술지지。
Trunk spraying machine, which is consisted of the base, mechanical arm and the control section, is used to spray drug on trunks.The mechanical arm has four degrees of freedom (4-DOF)so that it could move all around to adapt different shaped of trees.Based on Pro/E circumstance, the model of its main sections in 3D is simulated, virtual assembly and motion simulation for the whole machine are achieved, and the speed acceleration and displacement curve of mechanism during the movement process are also obtained.It could provide technical support for design.