Abstract The currently used large-scale flower seedling transplanting equipment is expensive and has poor adaptability, while the small-scale transplanting equipment has problems with seedling damage and low automation. In view of this situation, a 2-DoF five-bar transplanting mechanism for multiple-point picking to single-point planting was designed. In a motion cycle, the seedlings could be picked from the four holes of a seedling disc and then planted in the flowerpot at a given point through the motion control of actuators, where the coordination among the transplanting, flowerpot transporting, and seedling delivering in the developed system was simplified. For seedling picking, the end-effector inserted into the substrate near the root of the seedling stem for damage avoidance, the transplanting trajectory was designed based on the given trajectory-type waypoints that satisfies the requirements of flower seedling transplanting. Besides, the mathematical model was established, where the relationship of the motion between the parameters of the developed 2-DoF five-bar transplanting mechanism and the two actuators were optimized by the genetic algorithm. Finally, the corresponding control system was designed, the two actuators were driven by two servo motors, and the end-effector was controlled by an electromagnet in the transplanting arm to realize the seedling clamping and releasing motion. In addition, a dual servo motor synchronous linkage control method was established based on the DDA linear interpolation algorithm to reduce the deviation of the servo motors, the linkage control of the electromagnet and the motor was realized through a single-chip microprocessor to achieve the coordination of the actuators. The overall design was deployed in real transplanting working conditions for validation, where several 30-day broccoli seedlings were used as experimental objects. The seedling height was around 80–100 mm and the transplanting rate was 40 plants/min. Three sets of seedlings (384 seedlings in total) were transplanted with an average transplanting success rate of 91.81%.

中文翻译：

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花苗移栽2-DoF五杆机构优化设计与试验

摘要 目前使用的大型花卉苗木移栽设备价格昂贵，适应性差，而小型移栽设备存在伤苗、自动化程度低等问题。针对这种情况，设计了一种从多点采摘到单点种植的2-DoF五杆移栽机构。在一个运动循环中，通过执行器的运动控制，从育苗盘的四个孔中取出幼苗，然后在给定的点种植在花盆中，其中移栽、花盆运输和育苗在花盆中相互协调。开发的系统被简化。采苗时，末端执行器插入苗茎根部附近的基质中以避免损坏，根据给定的轨迹类型航点设计移栽轨迹，满足花苗移栽要求。此外，建立了数学模型，通过遗传算法优化了所开发的2-DoF五杆移植机构与两个执行器的参数之间的运动关系。最后设计了相应的控制系统，两个执行器由两个伺服电机驱动，末端执行器由移栽臂中的电磁铁控制，实现夹苗和放苗运动。此外，基于DDA线性插补算法建立了双伺服电机同步联动控制方法，以减少伺服电机的偏差，电磁铁与电机的联动控制是通过单片机实现的，实现执行器的协调。整体设计部署在真实移栽工况下进行验证，其中以几株30天的西兰花幼苗为实验对象。苗高约80-100毫米，移栽速度为40株/分钟。移栽3套幼苗（共384株），平均移栽成功率为91.81%。苗高约80-100毫米，移栽速度为40株/分钟。移栽3套幼苗（共384株），平均移栽成功率为91.81%。苗高约80-100毫米，移栽速度为40株/分钟。移栽3套幼苗（共384株），平均移栽成功率为91.81%。