Design and Experiment of Automatic Adjustable Transplanting End-Effector Based on Double-Cam

In view of the plugged-out end-effector that can adapt only to a specific size tray, needle spacing and angle seedling are fixed. this paper, new type transplanting is proposed. The adopts double-cam structure automatically adjust needle, which solves problem picking seedlings for different sizes trays. Firstly, working principle 72-hole, 128-hole, 200-hole trays was analyzed. overall designed. Subsequently, EDEM software used construct pot model conduct single-factor simulation experiments identify range factors subsequent regression orthogonal experiment. Finally, tray test platform built. With grasping acceleration, penetration angle, insertion depth, margin ratio as breakage rate evaluation indicators. A four-factor three-level experiment conducted establish rate, its parameters were optimized. optimal combination detailed follows: 72-hole acceleration 0.28 m/s2, 13°, an depth 40 mm, 15%; 128-hole 12°, 36 11°, 32 10%. Under combination, 72 holes reached 2.92%. 128 stable at 1.76%, while 200 0.68%, conducive study general end-effector. device developed in provides effective solution taking throwing cavitation trays, thus providing practical reference generic