中文摘要：

针对膜上移栽存在穴口大、直立度低、穴口地膜破损等问题，基于有效零速栽植机理提出一种行星轮系五杆栽植机构。针对有效零速栽植运动特性，分析该机构的运动要求及轨迹形成原理，建立圆柱凸轮间歇运动机构与行星轮式五杆栽植机构的运动学模型。在确定优化目标的基础上，基于VB的人机交互分析软件优选机构参数，通过虚拟样机运动仿真表明优化参数可以满足栽植嘴植苗轨迹要求。台架高速摄影试验表明栽植机构运动轨迹与零速栽植理论要求轨迹一致，栽植嘴入土前后栽植嘴垂直性好，重合度高，能实现有效零速植苗。田间试验结果表明，机组前进速度为0．5m/s，栽植频率为50株／min时，该机构移栽漏苗率为3％，膜口撕裂率为3．2％，穴口大小其实只是栽植嘴的实体尺寸大小，小于70mm，钵苗直立度为96．7％，达到了加工番茄钵苗膜上移栽的栽植性能要求，验证了栽植机构设计的合理性与准确性。该研究可为膜上钵苗自动移栽机栽植机构的研发提供参考。

英文摘要：

To solve these problems of larger diameter, upright position, and film damage, a mechanism with planetary five-bar is proposed based on the theory of zero-speed transplanting. According to the movement characteristics of zero-speed transplanting, the mechanism movement trajectory is analyzed and presented kinematics model. A computer-aided analysis program based on Visual Basic 6.0 is developed for optimizing the structural parameters as well as optimized to satisfy the motion trajectory conditions by human-computer interaction analysis method. The image shows that the static trajectory tallies with its computer simulation. During the field test with the forward speed of 0.Sm/s and transplanting frequency of 50 seedlings per minute, note that the advantages of the seedling transplanting mechanism are that the diameter of the planting cave is less than 70 millimeter, 96.7% of the seedling perpendicularity qualification rate can be reached, the film injury rate is only 3.2%, the missing rate of seedling transplanting is merely 3%, and the hanging membrane phenomenon is avoided. The mechanism achieves requirement for a mulch-film transplanting machine.