Performance Improvement of a Geared Five-Bar Transplanting Mechanism for Salvia miltiorrhiza by Orthogonal Design Based on an Interactive Human–Computer Auxiliary Interface

Abstract

A geared five-bar transplanting mechanism can meet the agronomic requirements for the vertical planting of Salvia miltiorrhiza. In order to improve the planting quality, this paper analyzed the structural composition and working principle of a transplanting mechanism and established an interactive human–computer auxiliary interface through a kinematic model. With the aid of an auxiliary interface, by taking the parameters of the transplanting mechanism as the factors and the parameters of the absolute trajectory and posture for the planter as the index, an orthogonal experimental design with five factors and five levels was carried out, and the optimal combination of the parameters of the mechanism was obtained. According to the optimal combination of the parameters of the mechanism, the structure of the transplanting mechanism was designed, a geared five-bar transplanting mechanism for Salvia miltiorrhiza prototype was developed, and a test bench system was built. The actual trajectory of the endpoint for the transplanting mechanism’s prototype was obtained using high-speed photographic technology. The bench test results showed that according to a comparison of the actual trajectory, the posture for the planter and the theoretical analysis results were basically consistent, which verified the correctness, rationality, and consistency of the optimal design for the mechanism.