# Design and Test of Seeding-Picking Mechanism of Fully Automatic Transplanting Machine
## 6 Conclusions  
During the prototype trial production, we concentrated on the connection of non-standard parts for processing, the assembly of the entire test stand, and debugging, which ultimately enabled us to conduct the trajectory test and assess seedling performance. The trajectory test employed a high-speed camera to capture the endpoint of the seedling claw's trajectory, allowing us to verify that the actual trajectory of the seedling was largely consistent with both the theoretical and simulated trajectories, thus confirming the validity of the theoretical design. We established three different seedling extraction rates of 60 plants/min, 72 plants/min, and 84 plants/min for the seedling extraction test, conducting nine groups of tests to record data based on evaluation indices such as the success rate of seedling extraction, the success rate of seedling insertion, the rate of substrate fragmentation, and the overall success rate. The test results showed that at a seedling extraction rate of 72 plants/min, the success rate of seedling extraction was 94.90%, the success rate of seedling insertion was 98.53%, the injury rate of seedlings was 1.95%, and the comprehensive success rate was 91.69%. There was a small difference between 60 plants /min and 72 plants/min; however, when the rate was further increased, there was a big difference in the effect of taking seedlings. When the picking rate was 84 plants /min, the success rate of picking was 89.35%, the success rate of seeding was 91.20%, the injury rate was 5.18%, and the overall success rate was 77.26%. This is mainly because when the seedling-taking rate increases, the time required for the seedling single cycle becomes shorter, and the operation speed of each motor is accelerated, resulting in more jitter and impact on the whole machine, which will lead to an increase in the frequency of taking seedlings and taking seedlings during the process of taking seedlings; however, when the speed is 60-72 plants/min, speeding up the rate of taking seedlings has little effect on the overall effect of taking seedlings. The test indicated that the primary cause for the unsuccessful retrieval of seedlings was the insufficient size of the opening and closing mechanisms of the seedling claws, along with considerable deviation in the stems of some seedlings. Furthermore, the rapid movement of the seedlings highlighted structural issues related to the structural design of the seedling removal device, which contains numerous moving parts that require high dimensional processing and installation accuracy. Moreover, the coordination between the seedling feeding device, the seedling lifting device, and the seedling-taking and throwing device is critically demanding. During the debugging process, some problems with the overall device emerged. To address issues such as jitter and jamming, it will be necessary to optimize the structural parameters of the entire device in the future, enhance the tightness  
Figure 14: Calculation of mean values for seedling sampling results. of the device connections, and reduce friction resistance among the kinematic pairs to achieve improved operational performance. This study highlights specific advantages of the developed transplanting mechanism over existing technologies. Unlike traditional transplanting machinery, our design incorporates a lifting mechanism combined with a hybrid pneumatic-electric system, which significantly reduces damage to seedlings and substrates. Enhancements to the lifting mechanism help maintain the structural integrity of the substrate, which is crucial for ensuring the healthy growth of seedlings. Furthermore, the integration of pneumatic and electric systems optimizes force distribution, thereby minimizing potential damage during mechanical operation. Firstly, the design of this mechanism enhances the precision of seedling extraction, directly impacting planting efficiency and the quality of plant growth.