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2025 Vol.52, Issue 4 Preview Page

Engineering

Kinematic analysis of a gripper-type seedling-picking mechanism for a 3.4-kW walking-type automatic pepper transplanter
Eliezel Habineza1
,
Md Nasim Reza12
,
Kyu-Ho Lee12
,
Keum-Hee Yang3
,
Seok-Ho Park4
,
Dae-Hyun Lee12
,
Sun-Ok Chung12*
1Department of Smart Agricultural Systems, Graduate School, Chungnam National University, Daejeon 34134, Korea
2Department of Agricultural Machinery Engineering, Graduate School, Chungnam National University, Daejeon 34134, Korea
3Hada Co., Ltd., Iksan 54569, Korea
4National Institute of Agricultural Science, Rural Development Administration, Jeonju 54875, Korea
*Corresponding Author
1 December 2025. pp. 529-545
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Abstract

Efficient, low-damage seedling transplanting remains a key challenge in vegetable mechanization, particularly amid labor shortages and the growing demand for agricultural productivity. This study presents the kinematic analysis and field testing of an automatic seedling-picking mechanism for a 3.4-kW walking-type pepper transplanter, with particular emphasis on the motion of the gripper. A gripper-type picking device, consisting of a dual pin, slider, connecting link, fixed slot, and gearbox, was used to extract seedlings from 72-cell nursery trays and transfer them into the planting hopper. A vector-loop model was developed to calculate the position, velocity, and acceleration of the gripper, and a 3D assembly with gripper lengths of 150 - 200 mm, base heights of 15 - 30 mm, and motor speeds of 18 - 36 rpm was used in simulations to identify the optimal configuration. For validation testing, an accelerometer was used to record acceleration data, and for performance testing, the picking device extracted pepper seedlings from a 6 × 12-cell tray placed on a rotary tray conveyor. Selected design consisted of a 160 mm gripper length, a 20 mm base height, and a motor speed of 24 rpm, achieving a smooth seedling-picking trajectory while minimizing mechanical stress and potential damage. Simulated and measured coordinates of the gripper position showed strong agreement, with maximum deviations of 25.76 mm in position, 0.09 m·s-1 in velocity, and 2.53 m·s-2 in acceleration, and the dynamic responses remained within biomechanical safety thresholds. Field validation yielded an average seedling damage rate of 1.73 ± 1.78%, well below the acceptable commercial limit of 5%. These findings confirmed the operational reliability and mechanical compliance of the planting unit, offering a practical solution for efficient and low-damage seedling transplanting in mechanized vegetable production.

Keywords
agricultural machinery
gripper-type picking mechanism
kinematic analysis
pepper transplanter
seedling damage rate
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Information
  • Publisher :Institute of Agricultural Science, Chungnam National University
  • Publisher(Ko) :충남대학교 농업과학연구소
  • Journal Title :Korean Journal of Agricultural Science
  • Journal Title(Ko) :농업과학연구
  • Volume : 52
  • No :4
  • Pages :529-545
  • Received Date : 2025-08-21
  • Revised Date : 2025-09-09
  • Accepted Date : 2025-09-14
  • DOI :https://doi.org/10.7744/kjoas.520411
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