Kinematics modeling and characteristic analysis of multi-linkage transplanting mechanism of pot seeding transplanter with zero speed

To analyze the working performance of the zero-speed multi-linkage transplanting mechanism of pot seeding transplanter which was proposed by this paper, the equations of displacement, velocity and acceleration of the zero-speed multi-linkage pot seeding transplanting mechanism were established. Also a computer-aided analytical and simulative program of this mechanism were compiled based on Visual Basic 6.0. And the influences over the kinematic characteristics of this mechanism by some important parameters were analyzed by this program. The length of the crank of the crank-rocker mechanism had significant influence not only over the trajectory shape of the transplanting tip and the size of the transplanting hole, but also over the verticality of the crop after being transplanted. The length of the linkage had influence over the trajectory height of the transplanting tip, while it had little influence over the size of the transplanting hole and the verticality of the crop after being transplanted. The length of the rocker and the included angle between two linkages had little influence over the trajectory shape of the transplanting tip and the size of the transplanting hole, and had significant influence over the verticality of the crop after being transplanted. A group of preferable mechanical parameters were obtained by this program, whose corresponding trajectory and posture could meet the demands of vegetable transplanting. The horizontal velocity is 0.03 m/s, so the transplanting with zero-velocity can be achieved.