中文摘要：

提出了一种钵苗移栽机变形椭圆齿轮行星系植苗机构，建立了栽植嘴的运动学方程，编写了该机构的运动学仿真软件。综合考虑穴口形状、栽植嘴回程轨迹、栽植嘴接苗和植苗姿态、接苗时栽植嘴的相对速度等因素，利用该软件优选得到一组机构参数，进而研制了该植苗机构试验台，对栽植嘴的轨迹和速度等运动学参数进行了测定。将试验结果与运动学分析结果进行对比，验证了运动学模型与分析结果的正确性。与椭圆齿轮行星系植苗机构相比，变形椭圆齿轮行星系植苗机构立苗率高、伤苗率低。

英文摘要：

The transplanting mechanism with planetary deformed elliptic gears was proposed and the kinematics equations of transplanting tip were established. The kinematics simulation software of this mechanism was compiled. A group of mechanical parameters were optimized and obtained by using this software and comprehensively taking into account the factors of hole shape, return trajectory of transplanting tip, pose of transplanting tip while catching and transplanting seedlings, relative velocity of transplanting tip while catching seedlings and so on. Then the test-bed of this transplanting mechanism was developed to test the kinematics parameters such as trajectory and velocity of the transplanting tip. Through the comparison between test result and kinematics analysis results, the correctness of kinematics model and analysis results were verified. Compared with the transplanting mechanism with planetary elliptic gears, the proposed transplanting mechanism had higher verticality rate of seedling and lower injury rate of seedling.