Trajectory planning and dynamics analysis of greenhouse parallel transplanting robot

Qizhi Yang, Cuiping Jia, Mengtao Sun, Xiaoqi Zhao, Mingsheng He, Hanping Mao, Jianping Hu, Min Addy

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


The seedling transplanting robot of greenhouse is the key equipment for automatic planting of plug seedlings in modern facility agricultural production. Most of the existing greenhouse seedling transplanting machines are three-axis gantry-type structures, which have low rigidity, poor precision, and required a precise tray feeding system. In this paper, a new type of space three-degree-of-freedom parallel transplanting robot was developed, which can realize high-speed, high-precision and flexible transplanting. Based on the requirements of transplanting seedlings, a single transplanting trajectory was planned, and the 3-4-5 polynomial function suitable for transplanting the plug seedlings was selected as the motion control function of the moving platform, and the difference of active joint driving torque between the right-angle transition trajectory and the arc transition trajectory was simulated and compared. The Lagrange dynamics theoretical model of the system was established, and the easily deformable rod was flexibly reinforced in ADAMS. Through the method of rigid flexible coupling, the elastic deformation of the moving platform in different mass members was compared and analyzed. Finally, the transplanting test was carried out by physical prototype. The experiment found that when the acceleration of moving platform was 30m/s2, the success rate of transplanting was 95.3%, and the efficiency was 1850 plants per hour.

Original languageEnglish (US)
Pages (from-to)64-76
Number of pages13
JournalInternational Agricultural Engineering Journal
Issue number3
StatePublished - Sep 2020

Bibliographical note

Publisher Copyright:
© 2020, Asian Association for Agricultural Engineering. All rights reserved.


  • Elastic deformation
  • Parallel transplanting robot
  • Seedling transplanting robot
  • Trajectory planning
  • Transplanting test


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