Design of a new cultivator (Part 2: Kinematic and dynamic analysis)

A new mechanical cultivator was proposed for mechanical weeding in part one. The precise point method was used to geometric design of this new cultivator. The aim of this research is selecting the suitable mechanism of the studied mechanisms in part one. The velocity and acceleration of links (kinematic) is the base of dynamic analysis of the systems. The variation of velocity، acceleration and jerk as the kinematic parameters as well as the joint forces and input torque as the dynamic parameters were investigated. Programming in Matlab was used to solve the equations and draw the diagrams. The program is provided to calculate the values of angular velocity، angular acceleration، angular jerk، joint forces and required input torque of the mechanism and draw the diagrams. The output diagrams showed that the values of the angular acceleration and jerk of the links and the values of the forces of the mechanism''s joints were continues. By considering the values of the forces at joints and links of the mechanism the type of the material and sectional area can be calculated. The value of required input torque was obtained by considering maximum values of the related diagram.