Structural Design and Simulation of Transplanting Manipulator

Abstract. Transplanting is an important part of greenhouse seedling production. Transplanting mechanical structure with low damage, high efficiency and high degree of freedom could improve the quality and production efficiency of greenhouse seedling production. At present, transplanting machinery is mainly based on three-degree-of-freedom mechanical structure. Due to the low degree of freedom of this kind of structure, there are certain limitations in achieving multi-angle and low-damage gripping and releasing seeding actions. Therefore, this study designed a six-degree-of-freedom transplant manipulator. Two different types end effectors were designed, and the force analysis of the end effectors mechanical structure were done in three different materials. Simulation results show that the Aluminum 2014 pointer type end effector was optimal. The transplanting trajectory model of transplanting manipulator to grip and release seedlings was established, and the motion simulation of the transplanting manipulator was carried out to verify the feasibility of the manipulator. This study has certain reference to the design of transplanting manipulator.