中文摘要：

针对一种应用于蔬菜钵苗全自动移栽机的旋转式取苗机构——偏心齿轮-非圆齿轮行星系取苗机构，建立机构的动力学模型，采用动力学方程组序列求解法进行求解，得到机构在一个工作周期内链条、太阳轮轴心、中间轮轴心、行星轮轴心、太阳轮与中间轮啮合点、中间轮与行星轮啮合点等处的受力随行星架转角变化的规律。设计了机构的物理样机，开展机构动力学试验，测试得到机构物理样机在4种不同工作转速下的动力学特性，同时验证了机构动力学模型的正确性。

英文摘要：

An automatic rotary seedling pick-up mechanism used in vegetable pot-seedling transplanter, planetary gear train with eccentric gear and non-circular gear, is taken as the research object to build dynamics model. The dynamics sequence-solution method was used for solving the dynamics model. Then the variation law of force between the rotary angle of planetary carrier and various positions of the mechanism in a working cycle was obtained. The positions included chain, axle center of the sun gear, axle center of middle gears, axle center of planetary gears, meshing point between the sun gear and middle gear, meshing point between the middle gear and planetary gear. Physical prototype of the seedling pick-up mechanism was designed. Dynamics bench test was carried out to investigate dynamics characteristics of the physical prototype under four different rotary speeds, while correctness of dynamics model was verified.