中文摘要：

设计了一种能适应大株距栽植的行星轮系蔬菜钵苗栽植机构,通过该机构栽植嘴能将蔬菜钵苗植入土中。构建了一种新型的非圆齿轮传动比函数,建立了机构的运动学模型,推导了栽植嘴尖点的（角）位移、（角）速度方程。基于Visual Basic开发了计算机辅助分析与优化软件,分析了非圆齿轮中心距a、角位移系数k1和k2、行星架初始安装角φ0、栽植嘴初始安装角α0、中间齿轮初始安装角γ0以及栽植嘴顶端到行星轮中心的距离S等重要参数对栽植轨迹的影响,通过人机交互方式优化出一组能够满足蔬菜钵苗栽植工作要求的机构参数（a=53 mm、k1=0.23、k2=0.03、φ0=-58°、α0=-144°、γ0=144°、S=175 mm）。根据优化所得参数建立栽植机构的三维模型并进行仿真分析,同时制作了栽植机构的样机进行田间植苗试验。试验了栽植嘴在不同时刻开启和闭合对西兰花钵苗栽植时直立度和成功率的影响,得出栽植嘴在其运动轨迹最低点上方10 mm处张开为最佳开启位置,钵苗直立度优良率达85%,栽植效率可达100株/（min·行）,栽植株距达到450 mm,证明该机构适用于蔬菜钵苗的大株距栽植。

英文摘要：

Existing rotary planting mechanism perform is not well in planting large spacing vegetable potseedling（ plants spacing above 450 mm） in the practical transplanting work. A new planting mechanism with planetary gear train,which is suitable for planting pot-seedling with large plants spacing,was designed. By constructing a transmission ratio function of the non-circular gears and calculating the center coordinates of each parts,the kinematic model of the planting mechanism was established,including the equations of（ angular） displacement,（ angular） velocity for the end point of planting mouth. According to the established mathematical model, computer-aided analysis and optimization software of the mechanism based on Visual Basic 6. 0 was developed. Then through analyzing the planting trajectory,which was influenced by several key parameters including center distance of the non-circular gears,angular displacement coefficients,initial installation angle of the planetary carrier,the planting mouth and the middle non-circular gear,etc.,and also using the human-computer conversation optimization method,a set of mechanism parameters were found to meet the requirements of vegetable pot-seedling planting. Based on the optimized parameters,3D model was established and simulation analysis was proceeded. Then,physical prototype of the planting mechanism was made and field planting experimentswere conducted. Land planting tests were carried out and the different opening and closing time of the planting mouth impacting on the upright degree and success rate of the planted vegetables pot-seedling were researched. It is proved that the best opening time is when the planting mouth arrives at 10 mm distance above its lowest position,in this case,the rate of seedling perpendicularity reaches 85%,planting efficiency is 100 plants /（ min· row） and plants spacing is 450 mm. Thus the mechanism was verified suitable for large spacing planting of vegetable pot-seedling.