Kinematic Analysis of a Cam-Follower-Type Transplanting Mechanism for a 1.54 kW Biodegradable Potted Cabbage Transplanter

Widespread use of plastic seedling pots has been attributed to their light weight and durable characteristics. However, these pots have limitations in facilitating efficient root establishment. Recent studies indicate that biodegradable seedling pots not only enhance seedling resilience but are also environmentally sustainable through natural decomposition. This study presents a kinematic analysis of a cabbage transplanting mechanism specifically under development for biodegradable seedling pots, focusing on position, velocity, acceleration, and power. The optimization of link combinations within the transplanting mechanism was analyzed to enhance the transplantation process, focusing on achieving precise depth and spacing for potted seedlings. A kinematic model of the mechanism was developed and simulated using commercial mechanical design and simulation software, followed by validation through performance tests. The proposed transplanter comprised a four-bar-linkage mechanism consisting of a driving link, a driven link, a connecting link, and a guide bar. Simulation trials were conducted by varying the main arm link length while keeping machine forward speed and mechanism driving speed fixed. Results indicated that the optimal mechanism parameters included a driving link of 50 mm, a connecting arm of 120 mm, a guide bar of 120 mm, and an end-effector link of 220 mm. A dibbling hopper length of 153 mm was identified as the most effective for operation. With these recommended link lengths, validated velocities of the end hopper in the ‘X’ and ‘Y’ directions were 284 mm/s and 1379 mm/s, respectively, while corresponding accelerations were measured at 1241 mm/s2 and 8664 mm/s2. The driving power requirement was calculated to be 17.4 W. These findings suggest that the developed mechanism provides effective planting performance, evidenced by a high degree of seedling uprightness and minimal soil disturbance. This study supports the use of biodegradable pots in mechanized transplanting as a viable alternative to conventional plastic pots, with potential benefits for both agricultural efficiency and environmental sustainability.